118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
9.9s
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 | 43.5s | 240 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us[0m ×2 + 0.03sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780289.15276384 seconds ×3 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780289.74659777 seconds. ×3 + 0.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.70sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.70sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.12sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230900403 [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 + 1.12sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230937594 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13).[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us[0m ×2 + 1.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713328167 [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 + 1.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713359578 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.829008744 [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 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831682602 [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 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831703042 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.00sINFOobjective_server_node[0;93m2026-06-06 21:11:31.117538426 [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 + 2.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130322004 [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 + 2.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130360714 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780292.00803876 seconds ×3 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us[0m ×2 + 3.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780292.78123641 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.12sWARNcontroller_managerOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us + 4.12sWARNros2_control_nodeOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_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 + 4.70sINFOobjective_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 + 4.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 4.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 5.00sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6).[0m ×2 + 6.00sWARNcontroller_managerOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us + 6.00sWARNros2_control_nodeOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3).[0m ×2 + 7.28sWARNcontroller_managerOverrun might occur, Total time : 3000.615 us (Expected < 1666.667 us) --> Read time : 98.422 us, Update time : 2657.997 us, Write time : 244.196 us + 7.28sWARNros2_control_nodeOverrun might occur, Total time : 3000.615 us (Expected < 1666.667 us) --> Read time : 98.422 us, Update time : 2657.997 us, Write time : 244.196 us[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882961 ms (missed cycles : 3). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882961 ms (missed cycles : 3).[0m ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.86sINFOros2_control_node[2026-06-06 21:11:36.976] [info] Received new action goal ×2 + 7.86sINFOros2_control_node[2026-06-06 21:11:36.976] [info] Accepted new action goal ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542356 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542356 ms (missed cycles : 3).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892320 ms (missed cycles : 5). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892320 ms (missed cycles : 5).[0m ×2 + 9.95sWARNcontroller_managerOverrun might occur, Total time : 1758.339 us (Expected < 1666.667 us) --> Read time : 156.384 us, Update time : 249.895 us, Write time : 1352.060 us + 9.95sWARNros2_control_nodeOverrun might occur, Total time : 1758.339 us (Expected < 1666.667 us) --> Read time : 156.384 us, Update time : 249.895 us, Write time : 1352.060 us[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455428 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455428 ms (missed cycles : 2).[0m ×2 + 11.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 11.09sINFOros2_control_node[2026-06-06 21:11:40.205] [info] Received new action goal ×2 + 11.09sINFOros2_control_node[2026-06-06 21:11:40.205] [info] Accepted new action goal ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518250 ms (missed cycles : 5). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518250 ms (missed cycles : 5).[0m ×2 + 12.20sWARNcontroller_managerOverrun might occur, Total time : 3413.054 us (Expected < 1666.667 us) --> Read time : 88.992 us, Update time : 46.901 us, Write time : 3277.161 us + 12.20sWARNros2_control_nodeOverrun might occur, Total time : 3413.054 us (Expected < 1666.667 us) --> Read time : 88.992 us, Update time : 46.901 us, Write time : 3277.161 us[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.636177 ms (missed cycles : 5). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.636177 ms (missed cycles : 5).[0m ×2 + 13.43sWARNcontroller_managerOverrun might occur, Total time : 1780.988 us (Expected < 1666.667 us) --> Read time : 108.402 us, Update time : 301.827 us, Write time : 1370.759 us + 13.43sWARNros2_control_nodeOverrun might occur, Total time : 1780.988 us (Expected < 1666.667 us) --> Read time : 108.402 us, Update time : 301.827 us, Write time : 1370.759 us[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843614 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843614 ms (missed cycles : 2).[0m ×2 + 13.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.91sINFOros2_control_node[2026-06-06 21:11:43.031] [info] Received new action goal ×2 + 13.91sINFOros2_control_node[2026-06-06 21:11:43.031] [info] Accepted new action goal ×2 + 14.53sWARNcontroller_managerOverrun might occur, Total time : 3994.596 us (Expected < 1666.667 us) --> Read time : 3558.127 us, Update time : 108.362 us, Write time : 328.107 us + 14.53sWARNros2_control_nodeOverrun might occur, Total time : 3994.596 us (Expected < 1666.667 us) --> Read time : 3558.127 us, Update time : 108.362 us, Write time : 328.107 us[0m ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384111 ms (missed cycles : 3). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384111 ms (missed cycles : 3).[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835708 ms (missed cycles : 3). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835708 ms (missed cycles : 3).[0m ×2 + 16.38sWARNcontroller_managerOverrun might occur, Total time : 5546.359 us (Expected < 1666.667 us) --> Read time : 119.392 us, Update time : 5006.818 us, Write time : 420.149 us + 16.39sWARNros2_control_nodeOverrun might occur, Total time : 5546.359 us (Expected < 1666.667 us) --> Read time : 119.392 us, Update time : 5006.818 us, Write time : 420.149 us[0m ×2 + 16.87sINFOobjective_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 + 16.88sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.88sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.88sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 16.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.88sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992746 ms (missed cycles : 3). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992746 ms (missed cycles : 3).[0m ×2 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482640 ms (missed cycles : 7). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.482640 ms (missed cycles : 7).[0m ×2 + 19.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.540131 ms (missed cycles : 10). + 19.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.540131 ms (missed cycles : 10).[0m ×2 + 19.26sWARNcontroller_managerOverrun might occur, Total time : 1832.771 us (Expected < 1666.667 us) --> Read time : 141.853 us, Update time : 1397.331 us, Write time : 293.587 us + 19.27sWARNros2_control_nodeOverrun might occur, Total time : 1832.771 us (Expected < 1666.667 us) --> Read time : 141.853 us, Update time : 1397.331 us, Write time : 293.587 us[0m ×2 + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496970 ms (missed cycles : 2). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496970 ms (missed cycles : 2).[0m ×2 + 20.95sWARNcontroller_managerOverrun might occur, Total time : 1822.779 us (Expected < 1666.667 us) --> Read time : 105.322 us, Update time : 1371.660 us, Write time : 345.797 us + 20.95sWARNros2_control_nodeOverrun might occur, Total time : 1822.779 us (Expected < 1666.667 us) --> Read time : 105.322 us, Update time : 1371.660 us, Write time : 345.797 us[0m ×2 + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.917877 ms (missed cycles : 6). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.917877 ms (missed cycles : 6).[0m ×2 + 22.03sWARNcontroller_managerOverrun might occur, Total time : 2274.929 us (Expected < 1666.667 us) --> Read time : 277.397 us, Update time : 89.711 us, Write time : 1907.821 us + 22.03sWARNros2_control_nodeOverrun might occur, Total time : 2274.929 us (Expected < 1666.667 us) --> Read time : 277.397 us, Update time : 89.711 us, Write time : 1907.821 us[0m ×2 + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720771 ms (missed cycles : 4). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720771 ms (missed cycles : 4).[0m ×2 + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.239103 ms (missed cycles : 5). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.239103 ms (missed cycles : 5).[0m ×2 + 23.91sWARNcontroller_managerOverrun might occur, Total time : 4633.929 us (Expected < 1666.667 us) --> Read time : 115.912 us, Update time : 4073.348 us, Write time : 444.669 us + 23.91sWARNros2_control_nodeOverrun might occur, Total time : 4633.929 us (Expected < 1666.667 us) --> Read time : 115.912 us, Update time : 4073.348 us, Write time : 444.669 us[0m ×2 + 24.37sINFOobjective_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 + 24.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.38sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.38sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.38sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.38sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757875 ms (missed cycles : 5). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757875 ms (missed cycles : 5).[0m ×2 + 25.22sWARNcontroller_managerOverrun might occur, Total time : 2207.198 us (Expected < 1666.667 us) --> Read time : 174.584 us, Update time : 58.371 us, Write time : 1974.243 us + 25.22sWARNros2_control_nodeOverrun might occur, Total time : 2207.198 us (Expected < 1666.667 us) --> Read time : 174.584 us, Update time : 58.371 us, Write time : 1974.243 us[0m ×2 + 25.31sINFOros2_control_node[2026-06-06 21:11:54.425] [info] Received new action goal ×2 + 25.31sINFOros2_control_node[2026-06-06 21:11:54.425] [info] Accepted new action goal ×2 + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.325864 ms (missed cycles : 11). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.325864 ms (missed cycles : 11).[0m ×2 + 26.29sWARNcontroller_managerOverrun might occur, Total time : 3499.816 us (Expected < 1666.667 us) --> Read time : 262.105 us, Update time : 81.572 us, Write time : 3156.139 us + 26.29sWARNros2_control_nodeOverrun might occur, Total time : 3499.816 us (Expected < 1666.667 us) --> Read time : 262.105 us, Update time : 81.572 us, Write time : 3156.139 us[0m ×2 + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893484 ms (missed cycles : 3). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893484 ms (missed cycles : 3).[0m ×2 + 26.49sINFOobjective_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 + 26.50sINFOobjective_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 + 26.78sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 26.81sINFOros2_control_node[2026-06-06 21:11:55.927] [info] Received new action goal ×2 + 26.81sINFOros2_control_node[2026-06-06 21:11:55.927] [info] Accepted new action goal ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232609 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232609 ms (missed cycles : 2).[0m ×2 + 27.87sWARNcontroller_managerOverrun might occur, Total time : 1813.370 us (Expected < 1666.667 us) --> Read time : 99.903 us, Update time : 1480.442 us, Write time : 233.025 us + 27.87sWARNros2_control_nodeOverrun might occur, Total time : 1813.370 us (Expected < 1666.667 us) --> Read time : 99.903 us, Update time : 1480.442 us, Write time : 233.025 us[0m ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.167491 ms (missed cycles : 5). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.167491 ms (missed cycles : 5).[0m ×2 + 28.94sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.18% of iterations over budget over 2:10.002 of wall time (72/40285). Below 1% is expected on a non-realtime system.[0m ×2 + 29.08sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 29.08sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 29.09sINFOros2_control_node[2026-06-06 21:11:58.205] [info] Received new action goal ×2 + 29.09sINFOros2_control_node[2026-06-06 21:11:58.205] [info] Accepted new action goal ×2 + 29.42sWARNcontroller_managerOverrun might occur, Total time : 2067.595 us (Expected < 1666.667 us) --> Read time : 118.452 us, Update time : 1691.787 us, Write time : 257.356 us + 29.42sWARNros2_control_nodeOverrun might occur, Total time : 2067.595 us (Expected < 1666.667 us) --> Read time : 118.452 us, Update time : 1691.787 us, Write time : 257.356 us[0m ×2 + 29.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935764 ms (missed cycles : 3). + 29.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935764 ms (missed cycles : 3).[0m ×2 + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440074 ms (missed cycles : 3). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440074 ms (missed cycles : 3).[0m ×2 + 31.32sWARNcontroller_managerOverrun might occur, Total time : 3514.036 us (Expected < 1666.667 us) --> Read time : 151.023 us, Update time : 3040.026 us, Write time : 322.987 us + 31.32sWARNros2_control_nodeOverrun might occur, Total time : 3514.036 us (Expected < 1666.667 us) --> Read time : 151.023 us, Update time : 3040.026 us, Write time : 322.987 us[0m ×2 + 31.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365828 ms (missed cycles : 5). + 31.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365828 ms (missed cycles : 5).[0m ×2 + 32.12sINFOros2_control_node[2026-06-06 21:12:01.235] [info] Received new action goal ×2 + 32.12sINFOros2_control_node[2026-06-06 21:12:01.235] [info] Accepted new action goal ×2 + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052016 ms (missed cycles : 3). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052016 ms (missed cycles : 3).[0m ×2 + 33.03sWARNcontroller_managerOverrun might occur, Total time : 5196.584 us (Expected < 1666.667 us) --> Read time : 124.402 us, Update time : 4740.224 us, Write time : 331.958 us + 33.04sWARNros2_control_nodeOverrun might occur, Total time : 5196.584 us (Expected < 1666.667 us) --> Read time : 124.402 us, Update time : 4740.224 us, Write time : 331.958 us[0m ×2 + 33.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681907 ms (missed cycles : 2). + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681907 ms (missed cycles : 2).[0m ×2 + 34.59sWARNcontroller_managerOverrun might occur, Total time : 6753.228 us (Expected < 1666.667 us) --> Read time : 101.093 us, Update time : 6208.775 us, Write time : 443.360 us + 34.59sWARNros2_control_nodeOverrun might occur, Total time : 6753.228 us (Expected < 1666.667 us) --> Read time : 101.093 us, Update time : 6208.775 us, Write time : 443.360 us[0m ×2 + 34.70sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 34.70sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.73sINFOros2_control_node[2026-06-06 21:12:03.847] [info] Received new action goal ×2 + 34.73sINFOros2_control_node[2026-06-06 21:12:03.847] [info] Accepted new action goal ×2 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443427 ms (missed cycles : 3). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443427 ms (missed cycles : 3).[0m ×2 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102827 ms (missed cycles : 2). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102827 ms (missed cycles : 2).[0m ×2 + 35.94sWARNcontroller_managerOverrun might occur, Total time : 5404.088 us (Expected < 1666.667 us) --> Read time : 139.513 us, Update time : 4834.605 us, Write time : 429.970 us + 35.94sWARNros2_control_nodeOverrun might occur, Total time : 5404.088 us (Expected < 1666.667 us) --> Read time : 139.513 us, Update time : 4834.605 us, Write time : 429.970 us[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302178 ms (missed cycles : 4). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302178 ms (missed cycles : 4).[0m ×2 + 37.51sWARNcontroller_managerOverrun might occur, Total time : 1859.440 us (Expected < 1666.667 us) --> Read time : 517.491 us, Update time : 507.411 us, Write time : 834.538 us + 37.51sWARNros2_control_nodeOverrun might occur, Total time : 1859.440 us (Expected < 1666.667 us) --> Read time : 517.491 us, Update time : 507.411 us, Write time : 834.538 us[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903992 ms (missed cycles : 3). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903992 ms (missed cycles : 3).[0m ×2 + 38.64sWARNcontroller_managerOverrun might occur, Total time : 5017.609 us (Expected < 1666.667 us) --> Read time : 156.423 us, Update time : 4472.518 us, Write time : 388.668 us + 38.65sWARNros2_control_nodeOverrun might occur, Total time : 5017.609 us (Expected < 1666.667 us) --> Read time : 156.423 us, Update time : 4472.518 us, Write time : 388.668 us[0m ×2 + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.176028 ms (missed cycles : 5). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.176028 ms (missed cycles : 5).[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799144 ms (missed cycles : 2). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799144 ms (missed cycles : 2).[0m ×2 + 40.33sWARNcontroller_managerOverrun might occur, Total time : 2975.845 us (Expected < 1666.667 us) --> Read time : 2494.574 us, Update time : 115.413 us, Write time : 365.858 us + 40.33sWARNros2_control_nodeOverrun might occur, Total time : 2975.845 us (Expected < 1666.667 us) --> Read time : 2494.574 us, Update time : 115.413 us, Write time : 365.858 us[0m ×2 + 41.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256105 ms (missed cycles : 2). + 41.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256105 ms (missed cycles : 2).[0m ×2 + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.361683 ms (missed cycles : 8). + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.361683 ms (missed cycles : 8).[0m ×2 + 42.51sWARNcontroller_managerOverrun might occur, Total time : 1821.720 us (Expected < 1666.667 us) --> Read time : 1492.192 us, Update time : 71.892 us, Write time : 257.636 us + 42.51sWARNros2_control_nodeOverrun might occur, Total time : 1821.720 us (Expected < 1666.667 us) --> Read time : 1492.192 us, Update time : 71.892 us, Write time : 257.636 us[0m ×2 + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145094 ms (missed cycles : 2). + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145094 ms (missed cycles : 2).[0m ×2 + 43.55sWARNcontroller_managerOverrun might occur, Total time : 1973.803 us (Expected < 1666.667 us) --> Read time : 157.113 us, Update time : 111.563 us, Write time : 1705.127 us + 43.55sWARNros2_control_nodeOverrun might occur, Total time : 1973.803 us (Expected < 1666.667 us) --> Read time : 157.113 us, Update time : 111.563 us, Write time : 1705.127 us[0m ×2 + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678987 ms (missed cycles : 2). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678987 ms (missed cycles : 2).[0m ×2 + 44.71sWARNcontroller_managerOverrun might occur, Total time : 2117.696 us (Expected < 1666.667 us) --> Read time : 188.554 us, Update time : 1519.693 us, Write time : 409.449 us + 44.71sWARNros2_control_nodeOverrun might occur, Total time : 2117.696 us (Expected < 1666.667 us) --> Read time : 188.554 us, Update time : 1519.693 us, Write time : 409.449 us[0m ×2 + 45.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914777 ms (missed cycles : 3). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914777 ms (missed cycles : 3).[0m ×2 + 45.37sINFOros2_control_node[2026-06-06 21:12:14.485] [info] Received new action goal ×2 + 45.37sINFOros2_control_node[2026-06-06 21:12:14.485] [info] Accepted new action goal ×2 + 46.25sWARNcontroller_managerOverrun might occur, Total time : 1729.678 us (Expected < 1666.667 us) --> Read time : 177.984 us, Update time : 1269.158 us, Write time : 282.536 us + 46.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902265 ms (missed cycles : 2). + 46.26sWARNros2_control_nodeOverrun might occur, Total time : 1729.678 us (Expected < 1666.667 us) --> Read time : 177.984 us, Update time : 1269.158 us, Write time : 282.536 us[0m ×2 + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902265 ms (missed cycles : 2).[0m ×2 + 46.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780780335.64162755 seconds ×3 + 47.23sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780780336.35252666 seconds. ×3 + 47.27sWARNcontroller_managerOverrun might occur, Total time : 9447.127 us (Expected < 1666.667 us) --> Read time : 100.513 us, Update time : 33.951 us, Write time : 9312.663 us + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.908370 ms (missed cycles : 6). + 47.27sWARNros2_control_nodeOverrun might occur, Total time : 9447.127 us (Expected < 1666.667 us) --> Read time : 100.513 us, Update time : 33.951 us, Write time : 9312.663 us[0m ×2 + 47.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.908370 ms (missed cycles : 6).[0m ×2 + 47.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 47.61sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 48.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857809 ms (missed cycles : 3). + 48.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857809 ms (missed cycles : 3).[0m ×2 + 48.48sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 48.49sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.50sINFOros2_control_node[2026-06-06 21:12:17.618] [info] Received new action goal ×2 + 48.50sINFOros2_control_node[2026-06-06 21:12:17.618] [info] Accepted new action goal ×2 + 49.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616757 ms (missed cycles : 4). + 49.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616757 ms (missed cycles : 4).[0m ×2 + 49.46sWARNcontroller_managerOverrun might occur, Total time : 2243.639 us (Expected < 1666.667 us) --> Read time : 91.462 us, Update time : 1894.621 us, Write time : 257.556 us + 49.46sWARNros2_control_nodeOverrun might occur, Total time : 2243.639 us (Expected < 1666.667 us) --> Read time : 91.462 us, Update time : 1894.621 us, Write time : 257.556 us[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 31.6s | 3990 errors · 201 warnings · 15254 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×3186 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1856 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×6372 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×3712 + 0.33sWARNcontroller_managerOverrun might occur, Total time : 3726.610 us (Expected < 1666.667 us) --> Read time : 96.512 us, Update time : 3291.461 us, Write time : 338.637 us + 0.33sWARNros2_control_nodeOverrun might occur, Total time : 3726.610 us (Expected < 1666.667 us) --> Read time : 96.512 us, Update time : 3291.461 us, Write time : 338.637 us[0m ×2 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652410 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652410 ms (missed cycles : 2).[0m ×2 + 1.46sWARNcontroller_managerOverrun might occur, Total time : 1992.483 us (Expected < 1666.667 us) --> Read time : 112.952 us, Update time : 1675.166 us, Write time : 204.365 us + 1.46sWARNros2_control_nodeOverrun might occur, Total time : 1992.483 us (Expected < 1666.667 us) --> Read time : 112.952 us, Update time : 1675.166 us, Write time : 204.365 us[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631712 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631712 ms (missed cycles : 3).[0m ×2 + 2.46sWARNcontroller_managerOverrun might occur, Total time : 3729.512 us (Expected < 1666.667 us) --> Read time : 79.622 us, Update time : 3275.182 us, Write time : 374.708 us + 2.46sWARNros2_control_nodeOverrun might occur, Total time : 3729.512 us (Expected < 1666.667 us) --> Read time : 79.622 us, Update time : 3275.182 us, Write time : 374.708 us[0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018803 ms (missed cycles : 3). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018803 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780780399.55339789 seconds ×3 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.68sWARNcontroller_managerOverrun might occur, Total time : 1832.289 us (Expected < 1666.667 us) --> Read time : 124.882 us, Update time : 1361.449 us, Write time : 345.958 us + 3.68sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 1832.289 us (Expected < 1666.667 us) --> Read time : 124.882 us, Update time : 1361.449 us, Write time : 345.958 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780780400.13264632 seconds. ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.284257 ms (missed cycles : 7). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.284257 ms (missed cycles : 7).[0m ×2 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 4.10sINFOros2_control_node[2026-06-06 21:13:20.314] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-06 21:13:20.314] [info] Accepted new action goal ×2 + 4.19sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 4.19sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 2522.105 us (Expected < 1666.667 us) --> Read time : 112.282 us, Update time : 2054.995 us, Write time : 354.828 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 2522.105 us (Expected < 1666.667 us) --> Read time : 112.282 us, Update time : 2054.995 us, Write time : 354.828 us[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973812 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973812 ms (missed cycles : 3).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438357 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438357 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun might occur, Total time : 3634.799 us (Expected < 1666.667 us) --> Read time : 97.462 us, Update time : 3166.769 us, Write time : 370.568 us + 6.56sWARNros2_control_nodeOverrun might occur, Total time : 3634.799 us (Expected < 1666.667 us) --> Read time : 97.462 us, Update time : 3166.769 us, Write time : 370.568 us[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415087 ms (missed cycles : 3). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415087 ms (missed cycles : 3).[0m ×2 + 7.65sWARNcontroller_managerOverrun might occur, Total time : 2708.609 us (Expected < 1666.667 us) --> Read time : 116.782 us, Update time : 2289.500 us, Write time : 302.327 us + 7.65sWARNros2_control_nodeOverrun might occur, Total time : 2708.609 us (Expected < 1666.667 us) --> Read time : 116.782 us, Update time : 2289.500 us, Write time : 302.327 us[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872973 ms (missed cycles : 5). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872973 ms (missed cycles : 5).[0m ×2 + 8.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 8.91sINFOros2_control_node[2026-06-06 21:13:25.126] [info] Received new action goal ×2 + 8.91sINFOros2_control_node[2026-06-06 21:13:25.126] [info] Accepted new action goal ×2 + 9.06sWARNcontroller_managerOverrun might occur, Total time : 2739.110 us (Expected < 1666.667 us) --> Read time : 102.062 us, Update time : 2310.661 us, Write time : 326.387 us + 9.06sWARNros2_control_nodeOverrun might occur, Total time : 2739.110 us (Expected < 1666.667 us) --> Read time : 102.062 us, Update time : 2310.661 us, Write time : 326.387 us[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074567 ms (missed cycles : 3). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074567 ms (missed cycles : 3).[0m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.643161 ms (missed cycles : 7). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.643161 ms (missed cycles : 7).[0m ×2 + 10.44sWARNcontroller_managerOverrun might occur, Total time : 3746.102 us (Expected < 1666.667 us) --> Read time : 139.823 us, Update time : 3121.828 us, Write time : 484.451 us + 10.44sWARNros2_control_nodeOverrun might occur, Total time : 3746.102 us (Expected < 1666.667 us) --> Read time : 139.823 us, Update time : 3121.828 us, Write time : 484.451 us[0m ×2 + 10.87sINFOros2_control_node[2026-06-06 21:13:27.084] [info] Received new action goal ×2 + 10.87sINFOros2_control_node[2026-06-06 21:13:27.084] [info] Accepted new action goal ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823587 ms (missed cycles : 3). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823587 ms (missed cycles : 3).[0m ×2 + 11.48sWARNcontroller_managerOverrun might occur, Total time : 2330.340 us (Expected < 1666.667 us) --> Read time : 91.742 us, Update time : 1870.460 us, Write time : 368.138 us + 11.48sWARNros2_control_nodeOverrun might occur, Total time : 2330.340 us (Expected < 1666.667 us) --> Read time : 91.742 us, Update time : 1870.460 us, Write time : 368.138 us[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853609 ms (missed cycles : 3). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853609 ms (missed cycles : 3).[0m ×2 + 12.48sWARNcontroller_managerOverrun might occur, Total time : 3121.818 us (Expected < 1666.667 us) --> Read time : 82.612 us, Update time : 2496.254 us, Write time : 542.952 us + 12.48sWARNros2_control_nodeOverrun might occur, Total time : 3121.818 us (Expected < 1666.667 us) --> Read time : 82.612 us, Update time : 2496.254 us, Write time : 542.952 us[0m ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737938 ms (missed cycles : 5). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737938 ms (missed cycles : 5).[0m ×2 + 13.79sWARNcontroller_managerOverrun might occur, Total time : 2094.816 us (Expected < 1666.667 us) --> Read time : 363.828 us, Update time : 860.189 us, Write time : 870.799 us + 13.79sWARNros2_control_nodeOverrun might occur, Total time : 2094.816 us (Expected < 1666.667 us) --> Read time : 363.828 us, Update time : 860.189 us, Write time : 870.799 us[0m ×2 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054925 ms (missed cycles : 2). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054925 ms (missed cycles : 2).[0m ×2 + 14.78sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 14.78sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m ×2 + 14.94sINFOobjective_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 + 14.94sWARNcontroller_managerOverrun might occur, Total time : 2047.975 us (Expected < 1666.667 us) --> Read time : 139.063 us, Update time : 1454.402 us, Write time : 454.510 us + 14.94sWARNros2_control_nodeOverrun might occur, Total time : 2047.975 us (Expected < 1666.667 us) --> Read time : 139.063 us, Update time : 1454.402 us, Write time : 454.510 us[0m ×2 + 14.98sINFOobjective_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 + 14.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 14.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 14.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 14.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 14.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 14.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.28sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 15.29sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277627 ms (missed cycles : 2). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277627 ms (missed cycles : 2).[0m ×2 + 16.02sWARNcontroller_managerOverrun might occur, Total time : 2083.045 us (Expected < 1666.667 us) --> Read time : 145.313 us, Update time : 1533.463 us, Write time : 404.269 us + 16.02sWARNros2_control_nodeOverrun might occur, Total time : 2083.045 us (Expected < 1666.667 us) --> Read time : 145.313 us, Update time : 1533.463 us, Write time : 404.269 us[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100619 ms (missed cycles : 4). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100619 ms (missed cycles : 4).[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525027015868 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525027015868[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571274413631 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571274413631[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002798927467227 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002798927467227[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001639355157840 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001639355157840[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000927255328638 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000927255328638[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000463341402697 ×2 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000463341402697[0m ×4 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042611321053 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042611321053[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000665226386555 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000665226386555[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000291355598872 ×2 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000291355598872[0m ×4 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004360897938 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004360897938[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013003234203 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013003234203[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084043793840 ×2 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084043793840[0m ×4 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126145629767 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126145629767[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002075527511329 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002075527511329[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898075259196 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898075259196[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001743274214756 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001743274214756[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474501565703 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474501565703[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817854907381 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817854907381[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002317445075325 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002317445075325[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002132164027570 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002132164027570[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001155831499683 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001155831499683[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000532625410768 + 17.10sWARNcontroller_managerOverrun might occur, Total time : 7294.039 us (Expected < 1666.667 us) --> Read time : 120.662 us, Update time : 6791.078 us, Write time : 382.299 us + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000532625410768[0m ×2 + 17.10sWARNros2_control_nodeOverrun might occur, Total time : 7294.039 us (Expected < 1666.667 us) --> Read time : 120.662 us, Update time : 6791.078 us, Write time : 382.299 us[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001482503943895 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001482503943895[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690870798094 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690870798094[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771408446637 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771408446637[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919668225731 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919668225731[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020798178772 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020798178772[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366087278820 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366087278820[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005519025273317 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005519025273317[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003658555559699 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003658555559699[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006451865785182 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006451865785182[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005257227058933 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005257227058933[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811759303557 ×2 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811759303557[0m ×4 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001182134115261 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001182134115261[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000929419261541 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000929419261541[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001224644508709 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001224644508709[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000445085509950 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000445085509950[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000445343003069 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000445343003069[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009855425072 ×2 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009855425072[0m ×4 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000201616723517 ×2 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000201616723517[0m ×4 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233000783706 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233000783706[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179225709205 ×2 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179225709205[0m ×4 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000105923737678 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000105923737678[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435219147481 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435219147481[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000156250838295 ×2 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000156250838295[0m ×4 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000053419629569 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000053419629569[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030875111775 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030875111775[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000133800321746 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000133800321746[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000062849680843 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000062849680843[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000352694353393 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000352694353393[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001843600144206 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001843600144206[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001882100055062 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001882100055062[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509670434573 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509670434573[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637399980850 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637399980850[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246375222362 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246375222362[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799641426910 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799641426910[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002803342156866 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002803342156866[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617317945353 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001617317945353[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000840125172017 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000840125172017[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000358293706619 ×2 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000358293706619[0m ×4 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080230075195 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080230075195[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043525457334 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043525457334[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091823263433 ×2 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091823263433[0m ×4 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145165985960 ×2 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145165985960[0m ×4 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000276001139710 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000276001139710[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001156524456325 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001156524456325[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000797476741455 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000797476741455[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000529989263230 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000529989263230[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000337669300778 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000337669300778[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001314983604985 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001314983604985[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001314864259023 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001314864259023[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776833244991 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776833244991[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000465102742369 ×2 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000465102742369[0m ×4 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000254361787253 ×2 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000254361787253[0m ×4 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118963062210 ×2 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118963062210[0m ×4 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037334190156 ×2 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037334190156[0m ×4 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210264 ms (missed cycles : 6). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210264 ms (missed cycles : 6).[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007977253762 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007977253762[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035930399241 ×2 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035930399241[0m ×4 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000158061398535 ×2 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000158061398535[0m ×4 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000276947249437 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000276947249437[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000367222166590 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000367222166590[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000420455098160 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000420455098160[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000178543616589 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000178543616589[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001322396469363 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001322396469363[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000725850461726 ×2 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000725850461726[0m ×4 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220868873107 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220868873107[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000735267236737 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000735267236737[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001546021798926 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001546021798926[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000710663230685 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000710663230685[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001375429494965 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001375429494965[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000858331588247 ×2 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000858331588247[0m ×4 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000448903770854 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000448903770854[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000198574758468 ×2 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000198574758468[0m ×4 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160732474097 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160732474097[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000157160777380 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000157160777380[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000366943601366 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000366943601366[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480717705841 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480717705841[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035209548263 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035209548263[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537585711728 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537585711728[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003679048068736 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003679048068736[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121198466000 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121198466000[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973750954625 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973750954625[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004419763585995 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004419763585995[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086133356829 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086133356829[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529371083476 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529371083476[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337223296981 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337223296981[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577732921637 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577732921637[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758696583652 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758696583652[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004888532218068 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004888532218068[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321042438150 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321042438150[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915144482180 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915144482180[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637623934597 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637623934597[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458360809372 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458360809372[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003349115485158 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003349115485158[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573736093353 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573736093353[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004703610198163 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004703610198163[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714749324944 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714749324944[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152421324443 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152421324443[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392423482543 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392423482543[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927209804114 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927209804114[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625018815885 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625018815885[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004068513488532 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004068513488532[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717277884435 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717277884435[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160342778768 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160342778768[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003774096316781 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003774096316781[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217629195477 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217629195477[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003807942608494 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003807942608494[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727364177807 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727364177807[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003558131821601 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003558131821601[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004378057010961 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004378057010961[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962028009964 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962028009964[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003680124954933 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003680124954933[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004500068282920 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004500068282920[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012876363272 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012876363272[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456639565224 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456639565224[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003968015320287 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003968015320287[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004411788882990 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004411788882990[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003928337638558 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003928337638558[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004168770091968 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004168770091968[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767732251299 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767732251299[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211609789835 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211609789835[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865216427470 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865216427470[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309118681745 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309118681745[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003903325316642 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003903325316642[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347242043044 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347242043044[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003912483539531 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003912483539531[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356412196648 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356412196648[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905822793348 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905822793348[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349878932916 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349878932916[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891967617922 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891967617922[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335937259473 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335937259473[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003876293294907 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003876293294907[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320323652163 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320323652163[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003862595947431 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003862595947431[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729008654170 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729008654170[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173133050974 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173133050974[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003826751456433 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003826751456433[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004647445933122 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004647445933122[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110539832372 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110539832372[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752147111033 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752147111033[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521527737410 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521527737410[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342198209316 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342198209316[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897865875635 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897865875635[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608350854381 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608350854381[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429051717474 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429051717474[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944991822417 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944991822417[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389169575449 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389169575449[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933897719393 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933897719393[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004378063475806 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004378063475806[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003981741639119 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003981741639119[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004425833398966 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004425833398966[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990024389478 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990024389478[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810825149142 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810825149142[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004208496493931 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004208496493931[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004652683687205 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004652683687205[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081641845852 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081641845852[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004525793789100 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004525793789100[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984740588937 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984740588937[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635418433730 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635418433730[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456235483240 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456235483240[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937828650302 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937828650302[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382029663289 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382029663289[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884256815074 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884256815074[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568541275945 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568541275945[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612998990531 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612998990531[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766070323931 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766070323931[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005210413001810 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005210413001810[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004479481636317 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004479481636317[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923680448176 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923680448176[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255767910377 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255767910377[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699951830139 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699951830139[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004089220625492 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004089220625492[0m ×2 + 18.35sWARNcontroller_managerOverrun might occur, Total time : 2881.113 us (Expected < 1666.667 us) --> Read time : 159.424 us, Update time : 2442.343 us, Write time : 279.346 us + 18.35sWARNros2_control_nodeOverrun might occur, Total time : 2881.113 us (Expected < 1666.667 us) --> Read time : 159.424 us, Update time : 2442.343 us, Write time : 279.346 us[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691899865120 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691899865120[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004733625594352 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004733625594352[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115181337249 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115181337249[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559195946441 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559195946441[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989799956679 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989799956679[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004433869664428 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004433869664428[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003903352722165 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003903352722165[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347478662026 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347478662026[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846426414285 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846426414285[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683614277306 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683614277306[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004786203800540 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004786203800540[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192136257524 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192136257524[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005012678785045 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005012678785045[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305287878321 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305287878321[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833627982200 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833627982200[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819695731325 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819695731325[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067199450112 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067199450112[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005000253314146 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005000253314146[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130275645580 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130275645580[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004376628790540 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004376628790540[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820585612018 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820585612018[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004151149855366 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004151149855366[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715540384639 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715540384639[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535806282476 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535806282476[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961810682384 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961810682384[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781969587808 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781969587808[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110073106935 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110073106935[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677901266171 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677901266171[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700977329695 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700977329695[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004941141006965 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004941141006965[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226030798255 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226030798255[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758693266446 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758693266446[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004578601754059 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004578601754059[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983538620676 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983538620676[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802801174046 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802801174046[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117632456388 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117632456388[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560889380009 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560889380009[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405786 ms (missed cycles : 3). + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955314180214 + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405786 ms (missed cycles : 3).[0m ×2 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955314180214[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858112632515 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858112632515[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153777042257 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153777042257[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699628875245 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699628875245[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707404811071 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707404811071[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947409960190 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947409960190[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223556117381 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223556117381[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004667022142320 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004667022142320[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028956945448 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028956945448[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004905583852170 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004905583852170[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004975852515363 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004975852515363[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226057197723 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226057197723[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669397260394 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669397260394[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939458661679 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939458661679[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004891662088622 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004891662088622[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334882653137 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334882653137[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484942722558 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484942722558[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928121896970 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928121896970[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195197537750 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195197537750[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014055224003 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014055224003[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063591128881 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063591128881[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880672261477 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880672261477[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182882734802 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182882734802[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008737063056 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008737063056[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246688718124 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246688718124[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005065007663577 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005065007663577[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262385864066 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262385864066[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705220926427 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705220926427[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020465244630 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020465244630[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838665174606 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838665174606[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100747426610 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100747426610[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914177847220 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914177847220[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043826728980 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043826728980[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237939308225 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237939308225[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680525323362 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680525323362[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996876520989 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996876520989[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814638239316 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814638239316[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079699931397 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079699931397[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896500018465 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896500018465[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026053573437 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026053573437[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223675718340 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223675718340[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666163110224 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666163110224[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003985592921907 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003985592921907[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802895912645 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802895912645[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070617121419 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070617121419[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887787322507 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887787322507[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003128062718482 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003128062718482[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945127653132 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945127653132[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004939981025788 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004939981025788[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005756809186620 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005756809186620[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781389898848 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781389898848[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010149790204 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010149790204[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932436513918 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932436513918[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504605369614 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504605369614[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743614159131 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743614159131[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704571032163 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704571032163[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005520641866006 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005520641866006[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527314190255 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527314190255[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150144542728 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150144542728[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005389041645858 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005389041645858[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416306676686 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416306676686[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857667682144 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857667682144[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004065258993259 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004065258993259[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880721442475 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880721442475[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079531691485 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079531691485[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894841581940 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894841581940[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063937790543 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063937790543[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612331406774 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612331406774[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004652961100088 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004652961100088[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315112034939 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315112034939[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005755910162213 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005755910162213[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709120421614 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709120421614[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149842190086 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149842190086[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285439541969 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285439541969[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099674790901 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099674790901[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235578444346 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235578444346[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005049629455958 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005049629455958[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191295387334 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191295387334[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004921119219560 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004921119219560[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005361458650785 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005361458650785[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393955130303 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393955130303[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044821776597 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044821776597[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188526136961 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188526136961[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005001688943524 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005001688943524[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152718794094 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152718794094[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965729351844 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965729351844[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124436956799 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124436956799[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004937263312782 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004937263312782[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103017549204 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103017549204[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004852639021329 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004852639021329[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005292296419868 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005292296419868[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343389537344 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343389537344[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006607352446 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006607352446[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005433381330130 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005433381330130[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005444412938445 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005444412938445[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004426540082878 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004426540082878[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043669606929 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043669606929[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170626646220 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170626646220[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981940333535 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981940333535[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396262385904 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396262385904[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379933937892 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379933937892[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005190819233734 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005190819233734[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237433857990 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237433857990[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048097118139 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048097118139[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142570205467 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142570205467[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004845949437968 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004845949437968[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308913270924 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308913270924[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437273097130 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437273097130[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081956953865 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081956953865[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005578162730667 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005578162730667[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533858169043 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533858169043[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005343317580102 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005343317580102[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005625059160101 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005625059160101[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515448174463 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515448174463[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324397434114 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324397434114[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004306270438291 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004306270438291[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005115014025652 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005115014025652[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434004368636 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434004368636[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365344042596 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365344042596[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173551683691 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173551683691[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192546998590 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192546998590[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003557886098823 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003557886098823[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004553122322663 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004553122322663[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005193156682475 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005193156682475[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006000315603993 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006000315603993[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006082852835464 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006082852835464[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006152051593653 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006152051593653[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004862193183402 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004862193183402[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277998948030 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277998948030[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005714675145699 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005714675145699[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547693084251 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547693084251[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005060079853516 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005060079853516[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005394180212075 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005394180212075[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005830032323252 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005830032323252[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609238662458 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609238662458[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005414733314215 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005414733314215[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005588349813270 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005588349813270[0m ×2 + 19.57sWARNcontroller_managerOverrun might occur, Total time : 7171.565 us (Expected < 1666.667 us) --> Read time : 171.563 us, Update time : 6466.110 us, Write time : 533.892 us + 19.58sWARNros2_control_nodeOverrun might occur, Total time : 7171.565 us (Expected < 1666.667 us) --> Read time : 171.563 us, Update time : 6466.110 us, Write time : 533.892 us[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428218193863 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428218193863[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593221585593 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593221585593[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536902846311 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536902846311[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144598944788 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144598944788[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005948070966055 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005948070966055[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006018899591061 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006018899591061[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.615115 ms (missed cycles : 7). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.615115 ms (missed cycles : 7).[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006254331145678 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006254331145678[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003261767024957 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003261767024957[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746009219347 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746009219347[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302522379310 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302522379310[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005635143772062 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005635143772062[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007118023449594 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007118023449594[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005467768137010 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005467768137010[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005618660325421 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005618660325421[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006420425286629 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006420425286629[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004942106087571 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004942106087571[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743620391194 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743620391194[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005738473928288 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005738473928288[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005724834351027 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005724834351027[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004454008024218 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004454008024218[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254483600013 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254483600013[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005409555448235 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005409555448235[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514678230541 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514678230541[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005641425158663 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005641425158663[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408329712971 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408329712971[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005207908061872 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005207908061872[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386101239873 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386101239873[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005620144387991 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005620144387991[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398942963532 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398942963532[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198114818911 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198114818911[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005382148696957 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005382148696957[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880605085176 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880605085176[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640002390980 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640002390980[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006114215531268 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006114215531268[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006056112952725 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006056112952725[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006289621717979 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006289621717979[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006121077679189 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006121077679189[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005976141142522 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005976141142522[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006013118236759 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006013118236759[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005882101820943 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005882101820943[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005902096799391 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005902096799391[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005794743454591 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005794743454591[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969615288672 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969615288672[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005439484340863 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005439484340863[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005562764727982 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005562764727982[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605632890038 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605632890038[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005731558668061 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005731558668061[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005718186709572 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005718186709572[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005755170919094 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005755170919094[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003992521500430 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003992521500430[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005458703851018 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005458703851018[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005585982845948 + 19.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005585982845948[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006379149932389 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006379149932389[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006141432724865 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006141432724865[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005952929164720 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005952929164720[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005810311307084 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005810311307084[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005935820122421 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005935820122421[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784980411455 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784980411455[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005910418527564 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005910418527564[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758029213065 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758029213065[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883409177167 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883409177167[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005732828423121 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005732828423121[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005858172825408 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005858172825408[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005710915550459 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005710915550459[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005614867015617 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005614867015617[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005846220458322 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005846220458322[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005699385625470 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005699385625470[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005824513344846 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005824513344846[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005682273031565 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005682273031565[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005807338382847 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005807338382847[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005667922501035 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005667922501035[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005898885620433 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005898885620433[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005723981615951 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005723981615951[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005954821142342 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005954821142342[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005753257001234 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005753257001234[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005622078043354 + 20.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005622078043354[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006101909983246 + 20.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006101909983246[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006226542671504 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006226542671504[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006002101119223 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006002101119223[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006427585705403 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006427585705403[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006093713053338 + 20.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006093713053338[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005847419724928 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005847419724928[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006180862797790 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006180862797790[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005959819350309 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005959819350309[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006384114326490 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006384114326490[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053869654770 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053869654770[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006477925657272 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006477925657272[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006080264274527 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006080264274527[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006309634626212 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006309634626212[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005947457116689 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005947457116689[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006176691443392 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006176691443392[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005847296202574 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005847296202574[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006270635494094 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006270635494094[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005895330244354 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005895330244354[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005650903455731 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005650903455731[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006073773796243 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006073773796243[0m ×2 + 20.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004530266642306 + 20.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004530266642306[0m ×2 + 20.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311150388193 + 20.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311150388193[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887960879281 + 20.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887960879281[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751006374686 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751006374686[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005642513826197 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005642513826197[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006421678166099 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006421678166099[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043861006786 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043861006786[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006465207998944 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006465207998944[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006039297511836 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006039297511836[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006460336548327 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006460336548327[0m ×2 + 20.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006008294632214 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006008294632214[0m ×2 + 20.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005706764022364 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005706764022364[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006127307665623 + 20.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006127307665623[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776540497452 + 20.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776540497452[0m ×2 + 20.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006196824432333 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006196824432333[0m ×2 + 20.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005812524731060 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005812524731060[0m ×2 + 20.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006017915916225 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006017915916225[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006437493384392 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006437493384392[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006044925168434 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006044925168434[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006819719525631 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006819719525631[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006247516410355 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006247516410355[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006666518773033 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006666518773033[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006113169885961 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006113169885961[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006531862329259 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006531862329259[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006002792353187 + 20.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006002792353187[0m ×2 + 20.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005656678137486 + 20.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005656678137486[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005442904179506 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005442904179506[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005320608662742 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005320608662742[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006746686054537 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006746686054537[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143662014352 + 20.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143662014352[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005741695596541 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005741695596541[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005487429305560 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005487429305560[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005337016809928 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005337016809928[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006759252851448 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006759252851448[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006138753699770 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006138753699770[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006554906588919 + 20.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006554906588919[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005983733412728 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005983733412728[0m ×2 + 20.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006752166148995 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006752166148995[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006089814340668 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006089814340668[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005659523358212 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005659523358212[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396333707163 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396333707163[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005247898957939 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005247898957939[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174555230801 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174555230801[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006590046208734 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006590046208734[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006025264711486 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006025264711486[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006790341704640 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006790341704640[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006123750258650 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006123750258650[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683511445972 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683511445972[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007095458952651 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007095458952651[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006283828589134 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006283828589134[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006696950105328 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006696950105328[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006005749312092 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006005749312092[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006768553505697 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006768553505697[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037020253546 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037020253546[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006799339707311 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006799339707311[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946580858492 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946580858492[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007306072843853 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007306072843853[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008066285424404 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008066285424404[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007032427972339 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007032427972339[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007792113663660 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007792113663660[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006765879108307 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006765879108307[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006061047054140 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006061047054140[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007462668800124 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007462668800124[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006468181832614 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006468181832614[0m ×2 + 20.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151625 ms (missed cycles : 2). + 20.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151625 ms (missed cycles : 2).[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007225953172801 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007225953172801[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006260583505830 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006260583505830[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007017276109957 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007017276109957[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006210795911279 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006210795911279[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006966844387908 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006966844387908[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006147012393975 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006147012393975[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006902403172717 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006902403172717[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006082217916431 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006082217916431[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005555873097854 + 20.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005555873097854[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007422409828607 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007422409828607[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006344460951625 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006344460951625[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007734692727807 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007734692727807[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006647701902519 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006647701902519[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005917477129931 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005917477129931[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007306014152739 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007306014152739[0m ×2 + 20.81sWARNcontroller_managerOverrun might occur, Total time : 1670.726 us (Expected < 1666.667 us) --> Read time : 141.643 us, Update time : 44.371 us, Write time : 1484.712 us + 20.81sWARNros2_control_nodeOverrun might occur, Total time : 1670.726 us (Expected < 1666.667 us) --> Read time : 141.643 us, Update time : 44.371 us, Write time : 1484.712 us[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004949064645276 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004949064645276[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005698907314569 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005698907314569[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007666285758596 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007666285758596[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008857958412696 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008857958412696[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008868127914207 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008868127914207[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007355500675172 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007355500675172[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008102912725453 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008102912725453[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006782923768290 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006782923768290[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005910139869688 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005910139869688[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007288958903350 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007288958903350[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006218296615250 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006218296615250[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007693892239239 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007693892239239[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006465713199322 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006465713199322[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007209599512005 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007209599512005[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006134171206358 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006134171206358[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007608770133957 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007608770133957[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007643233613448 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007643233613448[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006414047646233 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006414047646233[0m ×2 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007155757676435 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007155757676435[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006084779309422 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006084779309422[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007454076413887 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007454076413887[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006260908542711 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006260908542711[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007001123951783 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007001123951783[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005964625446496 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005964625446496[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537289696097 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537289696097[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007346790981446 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007346790981446[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008709848138260 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008709848138260[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007181038112164 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007181038112164[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008279556368484 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008279556368484[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008313712324068 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008313712324068[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006821889755451 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006821889755451[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007557170571424 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007557170571424[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006299112919888 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006299112919888[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007656468961751 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007656468961751[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006339037644447 + 21.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006339037644447[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005586532609704 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005586532609704[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006940421832462 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006940421832462[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008137672151258 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008137672151258[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006730910221729 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006730910221729[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008081582720568 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008081582720568[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006637718489206 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006637718489206[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007813069903084 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007813069903084[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006433195612824 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006433195612824[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007779448062384 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007779448062384[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006381424146440 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006381424146440[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007599866347731 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007599866347731[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006268834714722 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006268834714722[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007610649089860 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007610649089860[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006255487886715 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006255487886715[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007595753396639 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007595753396639[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006229252567826 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006229252567826[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007567934595764 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007567934595764[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006198199560110 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006198199560110[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007435918206832 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007435918206832[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008158592173631 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008158592173631[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006584283711646 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006584283711646[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007918261995242 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007918261995242[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006400672724226 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006400672724226[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007733085804076 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007733085804076[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006264812331501 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006264812331501[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007595638242044 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007595638242044[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006167707945135 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006167707945135[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007362001345794 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007362001345794[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008080387205002 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008080387205002[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006498343099152 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006498343099152[0m ×2 + 21.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007824409996961 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007824409996961[0m ×2 + 21.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924717266844 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924717266844[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007302690657943 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007302690657943[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008171114018810 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008171114018810[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008885460963207 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008885460963207[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007050154992683 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007050154992683[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008368720701944 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008368720701944[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004617183886169 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004617183886169[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006612474531093 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006612474531093[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009041020068025 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009041020068025[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009365294045360 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009365294045360[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010676994747099 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010676994747099[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008201615089848 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008201615089848[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009511425003228 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009511425003228[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007338905631623 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007338905631623[0m ×2 + 21.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008647021352583 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008647021352583[0m ×2 + 21.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008774810652810 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008774810652810[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008981759306789 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008981759306789[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006895730228678 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006895730228678[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008200172667884 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008200172667884[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008416687115445 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008416687115445[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006499660823983 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006499660823983[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007800516137828 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007800516137828[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206597083776 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206597083776[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006605258013382 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006605258013382[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007724631711186 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007724631711186[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010118539040245 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010118539040245[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009860793279388 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009860793279388[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009568225100319 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009568225100319[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009678936150496 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009678936150496[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007334100743384 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007334100743384[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008623572203097 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008623572203097[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008629946220186 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008629946220186[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009006889297985 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009006889297985[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008837002391526 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008837002391526[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008896646216969 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008896646216969[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005906280826383 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005906280826383[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008276513267361 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008276513267361[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008445055852873 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008445055852873[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008519675649953 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008519675649953[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009211304342876 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009211304342876[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008960706531456 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008960706531456[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009162912678974 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009162912678974[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008880730750624 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008880730750624[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008939853488740 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008939853488740[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008703281506833 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008703281506833[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008812360073002 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008812360073002[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009457883384207 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009457883384207[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009104132132160 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009104132132160[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009304807909882 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009304807909882[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008945396195770 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008945396195770[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008675667002373 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008675667002373[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008480474550457 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008480474550457[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008343856927448 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008343856927448[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009024740420162 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009024740420162[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008669491857806 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008669491857806[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008424960618658 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008424960618658[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009103549499510 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009103549499510[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008680243560836 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008680243560836[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009046815272778 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009046815272778[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008620535262299 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008620535262299[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008338742438855 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008338742438855[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008161513964928 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008161513964928[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008056554275906 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008056554275906[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009300120762446 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009300120762446[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008762816386736 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008762816386736[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009434458958298 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009434458958298[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008812372185534 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008812372185534[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008397636070697 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008397636070697[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009066955837740 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009066955837740[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008545795119160 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008545795119160[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009213885911496 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009213885911496[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008619337213918 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008619337213918[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009286194323982 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009286194323982[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008643673078475 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008643673078475[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332625 ms (missed cycles : 2). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332625 ms (missed cycles : 2).[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009309297181161 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009309297181161[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007481761555481 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007481761555481[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011391983629225 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011391983629225[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012053631763658 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012053631763658[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010618703423744 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010618703423744[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009562883439751 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009562883439751[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010781109614674 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010781109614674[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009565867582414 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009565867582414[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008735603738515 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008735603738515[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009949183803717 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009949183803717[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009252793103263 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009252793103263[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010462188662240 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010462188662240[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009350795962714 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009350795962714[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010557677665517 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010557677665517[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009331645917838 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009331645917838[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010535948427966 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010535948427966[0m ×2 + 21.90sWARNcontroller_managerOverrun might occur, Total time : 2210.807 us (Expected < 1666.667 us) --> Read time : 222.704 us, Update time : 85.512 us, Write time : 1902.591 us + 21.90sWARNros2_control_nodeOverrun might occur, Total time : 2210.807 us (Expected < 1666.667 us) --> Read time : 222.704 us, Update time : 85.512 us, Write time : 1902.591 us[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009250615650609 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009250615650609[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008846781564684 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008846781564684[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011777016092659 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011777016092659[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010081292258484 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010081292258484[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010726675592139 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010726675592139[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009319391765717 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009319391765717[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008394046076802 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008394046076802[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008444425693534 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008444425693534[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011470106541241 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011470106541241[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009876242975111 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009876242975111[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012054806748538 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012054806748538[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010116563601151 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010116563601151[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011292548342413 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011292548342413[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009533223050608 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009533223050608[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008384908012658 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008384908012658[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010549203187541 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010549203187541[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009005901796668 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009005901796668[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011405153938636 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011405153938636[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011505067369039 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011505067369039[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009574211389872 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009574211389872[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008323258237851 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008323258237851[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010921844504316 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010921844504316[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011548081366040 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011548081366040[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009581524554441 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009581524554441[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010736283782095 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010736283782095[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009011211927778 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009011211927778[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011140229933676 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011140229933676[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009223624559352 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009223624559352[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010372745046356 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010372745046356[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008710258435253 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008710258435253[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008016635862856 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008016635862856[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010803103186633 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010803103186633[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012908794528214 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012908794528214[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010503655699114 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010503655699114[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012603782863750 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012603782863750[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010163893291308 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010163893291308[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012258358361794 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012258358361794[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009836404386928 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009836404386928[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011925197085888 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011925197085888[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009547821522832 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009547821522832[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011296679634363 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011296679634363[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011904877626712 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011904877626712[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009504578981159 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009504578981159[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011224200354807 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011224200354807[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012296403540314 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012296403540314[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009682126829389 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009682126829389[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011737512830707 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011737512830707[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009273938453840 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009273938453840[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011323695105990 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011323695105990[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008983301488589 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008983301488589[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010735001968795 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010735001968795[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011856057569001 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011856057569001[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012451010488674 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012451010488674[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009700593528341 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009700593528341[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011123695625358 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011123695625358[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012015621076546 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012015621076546[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013105679859597 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013105679859597[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010038108633619 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010038108633619[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012047481569155 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012047481569155[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012446079159190 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012446079159190[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012538987556910 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012538987556910[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009563519757062 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009563519757062[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010822507809419 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010822507809419[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012813027177056 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012813027177056[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009735640579562 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009735640579562[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011720483112004 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011720483112004[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012107189891162 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012107189891162[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012686463638886 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012686463638886[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009571026487721 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009571026487721[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010706057161035 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010706057161035[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012672134737068 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012672134737068[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012646362980606 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012646362980606[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012956644220232 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012956644220232[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012750437408286 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012750437408286[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012741266128470 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012741266128470[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012548298322667 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012548298322667[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012375533229424 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012375533229424[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012226957244352 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012226957244352[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012102819671835 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012102819671835[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011999771801586 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011999771801586[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012561684510702 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012561684510702[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013595183618236 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013595183618236[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014153008647768 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014153008647768[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014707951877942 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014707951877942[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015008182214434 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015008182214434[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013936990416914 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013936990416914[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013105487300228 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013105487300228[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014123475893228 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014123475893228[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013104043879944 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013104043879944[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013652776351714 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013652776351714[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012712756364407 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012712756364407[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013259564578268 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013259564578268[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012399379360791 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012399379360791[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013405883644565 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013405883644565[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012436142097080 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012436142097080[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012978736127003 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012978736127003[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012123959187818 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012123959187818[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012743145440189 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012743145440189[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012178940731460 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012178940731460[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011759929483016 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011759929483016[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015124892782230 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015124892782230[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013498782681205 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013498782681205[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015310608898064 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015310608898064[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013464394224973 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013464394224973[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014440486653868 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014440486653868[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012804609969055 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012804609969055[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011728133999375 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011728133999375[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013517877484806 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013517877484806[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012145551924726 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012145551924726[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013927427837093 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013927427837093[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012350859578447 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012350859578447[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011338438851167 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011338438851167[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010728849023159 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010728849023159[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013983506764550 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013983506764550[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012368783638153 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012368783638153[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014120908458991 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014120908458991[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012381084707352 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012381084707352[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014125690575423 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014125690575423[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012314924375961 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012314924375961[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011154786475062 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011154786475062[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014351923212472 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014351923212472[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012398510428964 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012398510428964[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016120478280833 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016120478280833[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013404895197213 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013404895197213[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014327034253881 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014327034253881[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012183291620584 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012183291620584[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590610 ms (missed cycles : 5). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590610 ms (missed cycles : 5).[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013880105298175 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013880105298175[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011998207820998 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011998207820998[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015804737373677 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015804737373677[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018897706040740 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018897706040740[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015099856322845 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015099856322845[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012534673765992 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012534673765992[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015598702210897 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015598702210897[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012749489428565 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012749489428565[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014398581192242 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014398581192242[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011926872853131 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011926872853131[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015135799701978 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015135799701978[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012380982229718 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012380982229718[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015330513743265 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015330513743265[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017113581649522 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017113581649522[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017135352676268 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017135352676268[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013447529108910 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013447529108910[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015045211860606 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015045211860606[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012036327155317 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012036327155317[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014972834502783 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014972834502783[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011942035166781 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011942035166781[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014863758581876 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014863758581876[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016395838827148 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016395838827148[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016384232055479 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016384232055479[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012712088076551 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012712088076551[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015598390467630 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015598390467630[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011282996111978 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011282996111978[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010139378348041 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010139378348041[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013832248730383 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013832248730383[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019049221862003 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019049221862003[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019203522997477 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019203522997477[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022000149209867 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022000149209867[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016272778873441 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016272778873441[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019052609053048 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019052609053048[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014119985478060 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014119985478060[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015253842928751 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015253842928751[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015919712412563 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015919712412563[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018646342102686 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018646342102686[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013633197446291 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013633197446291[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016343362116050 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016343362116050[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016308565140140 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016308565140140[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016199675382260 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016199675382260[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016981354724547 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016981354724547[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016521658417806 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016521658417806[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016748904346499 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016748904346499[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014893823114880 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014893823114880[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023337166606714 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023337166606714[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025922125737516 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025922125737516[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018220834508877 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018220834508877[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020789142794152 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020789142794152[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018610415571835 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018610415571835[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018028611680858 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018028611680858[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016747973470332 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016747973470332[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015801015353062 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015801015353062[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020378293064457 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020378293064457[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017873219321222 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017873219321222[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018591179424512 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018591179424512[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016557060268274 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016557060268274[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015188708967526 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015188708967526[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017603551165903 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017603551165903[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015761662964250 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015761662964250[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014555871677679 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014555871677679[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020674805513074 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020674805513074[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020783762087188 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020783762087188[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017562565513510 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017562565513510[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015387950720286 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015387950720286[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017700466952589 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017700466952589[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015381780400510 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015381780400510[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017673233914626 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017673233914626[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015273192324163 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015273192324163[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017543719570383 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017543719570383[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015106647964851 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015106647964851[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019263814491007 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019263814491007[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016057725024560 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016057725024560[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014597276894993 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014597276894993[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019789627203402 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019789627203402[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023797918673830 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023797918673830[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018931153976520 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018931153976520[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021076253049324 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021076253049324[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016900588264889 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016900588264889[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020292919691383 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020292919691383[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021428241919535 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021428241919535[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016820415096392 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016820415096392[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018899469271275 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018899469271275[0m ×2 + 23.37sWARNcontroller_managerOverrun might occur, Total time : 2732.350 us (Expected < 1666.667 us) --> Read time : 172.964 us, Update time : 2300.521 us, Write time : 258.865 us + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015071853056947 + 23.37sWARNros2_control_nodeOverrun might occur, Total time : 2732.350 us (Expected < 1666.667 us) --> Read time : 172.964 us, Update time : 2300.521 us, Write time : 258.865 us[0m ×2 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015071853056947[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023976892133172 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023976892133172[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018441097086887 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018441097086887[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022128243942199 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022128243942199[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016935408402582 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016935408402582[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020580603873680 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020580603873680[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015737829776057 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015737829776057[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019341631820364 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019341631820364[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023964613083176 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023964613083176[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025862621652006 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025862621652006[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018923081267708 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018923081267708[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019755203510180 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019755203510180[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020077244631734 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020077244631734[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021066946867992 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021066946867992[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015379263250950 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015379263250950[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018725880888942 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018725880888942[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019011859074526 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019011859074526[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020792921046496 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020792921046496[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020100435736063 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020100435736063[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019461047383517 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019461047383517[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019967763940921 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019967763940921[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019193418994827 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019193418994827[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020116122964906 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020116122964906[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019101239776373 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019101239776373[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019593213144901 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019593213144901[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018609674271486 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018609674271486[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017867560849943 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017867560849943[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020884733981057 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020884733981057[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019100864391157 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019100864391157[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019969260889056 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019969260889056[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018338401076461 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018338401076461[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019918886180655 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019918886180655[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018135813993952 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018135813993952[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018552862002709 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018552862002709[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025500112058441 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025500112058441[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028236203781407 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028236203781407[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018711715295429 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018711715295429[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021411454009105 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021411454009105[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018554544099692 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018554544099692[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024221608550472 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024221608550472[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019848317088402 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019848317088402[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024108908847397 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024108908847397[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019182570318663 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019182570318663[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021603166259806 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021603166259806[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017333594145215 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017333594145215[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019709448467659 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019709448467659[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015980301671654 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015980301671654[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020289808585002 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020289808585002[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016183770187367 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016183770187367[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020158481645496 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020158481645496[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024272986434110 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024272986434110[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018381992653437 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018381992653437[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020560328407251 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020560328407251[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026213646384334 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026213646384334[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019329819672104 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019329819672104[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020637846335056 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020637846335056[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021115360451963 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021115360451963[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024694484835138 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024694484835138[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017595320112013 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017595320112013[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021092347739728 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021092347739728[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020505540130696 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020505540130696[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022335788328446 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022335788328446[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020897770111106 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020897770111106[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021418351027734 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021418351027734[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019977040527346 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019977040527346[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018795816106548 + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944199 ms (missed cycles : 2). + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018795816106548[0m ×2 + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944199 ms (missed cycles : 2).[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021907803729468 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021907803729468[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020707278971273 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020707278971273[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026143870655129 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026143870655129[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021996647758764 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021996647758764[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018959259816101 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018959259816101[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024044551435069 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024044551435069[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019770493823888 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019770493823888[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022416090137592 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022416090137592[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018350274942907 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018350274942907[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020890297927635 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020890297927635[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017083456849921 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017083456849921[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028267130081160 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028267130081160[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032461915602249 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032461915602249[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023783431318678 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023783431318678[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024963252357243 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024963252357243[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027500519343198 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027500519343198[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031171040653827 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031171040653827[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021761169364520 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021761169364520[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025275300926592 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025275300926592[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022882002532756 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022882002532756[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020752368434063 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020752368434063[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023902776006893 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023902776006893[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020708720032917 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020708720032917[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009933527707199 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009933527707199[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020084025147090 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020084025147090[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029338520385605 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029338520385605[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030221171756604 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030221171756604[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029112226414369 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029112226414369[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029300813055767 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029300813055767[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020800310394753 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020800310394753[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031921315649716 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031921315649716[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032005024404100 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032005024404100[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026172396134755 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026172396134755[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027060808065847 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027060808065847[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030473425555914 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030473425555914[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030887370589959 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030887370589959[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019144178437810 ×2 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019144178437810[0m ×4 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007083061924943 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007083061924943[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015332077792532 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015332077792532[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012492166302583 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012492166302583[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960733483142 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960733483142[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006500487598119 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006500487598119[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008006974241133 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008006974241133[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008826017632047 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008826017632047[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011872735230324 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011872735230324[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010862263285479 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010862263285479[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011670209506213 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011670209506213[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010396408657360 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010396408657360[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009346277344176 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009346277344176[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010056800976592 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010056800976592[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008919182358274 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008919182358274[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008026220959686 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008026220959686[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008654317454455 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008654317454455[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007708701098855 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007708701098855[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008301762700648 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008301762700648[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007387421883301 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007387421883301[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007688496538928 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007688496538928[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006926255758900 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006926255758900[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006883180825514 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006883180825514[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006468182417957 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006468182417957[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004939784878361 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004939784878361[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196638405467 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196638405467[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005382042971045 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005382042971045[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005466359085483 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005466359085483[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006133120968236 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006133120968236[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005878315350880 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005878315350880[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007238890359798 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007238890359798[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009418913281043 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009418913281043[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007356582730821 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007356582730821[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007948577735413 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007948577735413[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006300429224778 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006300429224778[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005215051367918 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005215051367918[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005783213145560 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005783213145560[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005004605422451 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005004605422451[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559894854144 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559894854144[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745948632529 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745948632529[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005858065843812 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005858065843812[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922435212751 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922435212751[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005433048312281 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005433048312281[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678874715931 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678874715931[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192369453569 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192369453569[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005115735527698 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005115735527698[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005778087884389 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005778087884389[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005918424136777 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005918424136777[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909857540114 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909857540114[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374524767074 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374524767074[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533791118374 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533791118374[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005367505755368 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005367505755368[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000989348919236 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000989348919236[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682217443055 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682217443055[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001434183543365 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001434183543365[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493657359091 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493657359091[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003170122313059 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003170122313059[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001759101049240 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001759101049240[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529033762184 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529033762184[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004140876277605 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004140876277605[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005636086051515 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005636086051515[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869648065341 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869648065341[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005002818511372 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005002818511372[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008192615672731 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008192615672731[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980643613030 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980643613030[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005665279893069 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005665279893069[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005480659070257 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005480659070257[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005830997465820 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005830997465820[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584864341620 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584864341620[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752761822915 ×2 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752761822915[0m ×4 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570322256484 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570322256484[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244457494302 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244457494302[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004684412937572 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004684412937572[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005851831764921 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005851831764921[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005550876399252 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005550876399252[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220765985106 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220765985106[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005780341772162 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005780341772162[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264252634721 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264252634721[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791261458499 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791261458499[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005161554528970 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005161554528970[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006074007860933 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006074007860933[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006324503779901 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006324503779901[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004632545853729 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004632545853729[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005116885888595 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005116885888595[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463845378871 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463845378871[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284023532158 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284023532158[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489547951940 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489547951940[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920575226441 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920575226441[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266649873369 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266649873369[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005038757831506 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005038757831506[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313376805252 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313376805252[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055602703865 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055602703865[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290184388672 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290184388672[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008740544150 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008740544150[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220533995633 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220533995633[0m ×2 + 24.74sWARNcontroller_managerOverrun might occur, Total time : 4197.092 us (Expected < 1666.667 us) --> Read time : 130.083 us, Update time : 3761.133 us, Write time : 305.876 us + 24.74sWARNros2_control_nodeOverrun might occur, Total time : 4197.092 us (Expected < 1666.667 us) --> Read time : 130.083 us, Update time : 3761.133 us, Write time : 305.876 us[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002403447474714 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002403447474714[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959326785213 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959326785213[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003579445259196 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003579445259196[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380505818100 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380505818100[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503773045486 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503773045486[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005363455976086 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005363455976086[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812520393782 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812520393782[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395181698776 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395181698776[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334411034085 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334411034085[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005667382150686 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005667382150686[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006081487170815 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006081487170815[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005089764180986 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005089764180986[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005798857736183 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005798857736183[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746985772294 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746985772294[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393689747636 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393689747636[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353182081256 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353182081256[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940261980113 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940261980113[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953655004029 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953655004029[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004486479212696 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004486479212696[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004368780156950 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004368780156950[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004442018211795 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004442018211795[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249505 ms (missed cycles : 4). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249505 ms (missed cycles : 4).[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174991972256 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174991972256[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002106413324804 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002106413324804[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002741485759321 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002741485759321[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764867361639 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764867361639[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754451683938 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754451683938[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190480058358 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190480058358[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972243714767 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972243714767[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003126962628183 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003126962628183[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744234197826 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744234197826[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820504790010 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820504790010[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002154628325810 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002154628325810[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002538807661699 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002538807661699[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877216927318 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877216927318[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060835712223 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060835712223[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487584023114 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487584023114[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001094825552613 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001094825552613[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820196771989 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820196771989[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000923854826737 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000923854826737[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682778675704 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682778675704[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000732603562125 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000732603562125[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000538432031183 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000538432031183[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000547904403812 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000547904403812[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000400109981793 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000400109981793[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000380860207021 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000380860207021[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000280575055716 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000280575055716[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000240101302888 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000240101302888[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000166713103093 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000166713103093[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090285930284 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090285930284[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028463954602 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028463954602[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006399112659 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006399112659[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067824509374 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067824509374[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001255817393 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001255817393[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000090176889495 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000090176889495[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076678377346 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076678377346[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160597793366 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160597793366[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123247065307 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123247065307[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203076666570 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203076666570[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149750175723 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149750175723[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225442578272 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225442578272[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162547016922 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162547016922[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233894597092 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233894597092[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166230416845 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166230416845[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000131814096427 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000131814096427[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000193809101612 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000193809101612[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079966707437 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079966707437[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142724763939 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142724763939[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115545257611 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115545257611[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000171019935420 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000171019935420[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000130839676960 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000130839676960[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180666401891 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180666401891[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000224428088164 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000224428088164[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160666297749 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160666297749[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000202218560791 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000202218560791[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142561449320 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142561449320[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180739364547 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180739364547[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126218924405 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126218924405[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160789450836 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160789450836[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111729676362 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111729676362[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142780810781 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142780810781[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099006292393 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099006292393[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126741317194 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126741317194[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032396182195 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032396182195[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059804415242 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059804415242[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051572806428 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051572806428[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073386320565 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073386320565[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057726890113 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057726890113[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076137349279 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076137349279[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057526494100 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057526494100[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073453381894 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073453381894[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054190244142 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054190244142[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068096669022 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068096669022[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049432616042 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049432616042[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037774250834 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037774250834[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049157801871 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049157801871[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036459507684 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036459507684[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046316885028 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046316885028[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033774428458 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033774428458[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042361460445 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042361460445[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030544352147 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030544352147[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038031332000 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038031332000[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044880906276 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044880906276[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030982855723 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030982855723[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013919171131 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013919171131[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012643658339 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012643658339[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011787172718 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011787172718[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016730890244 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016730890244[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013535864110 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013535864110[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017576572035 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017576572035[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013485925986 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013485925986[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007234610509 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007234610509[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007089336133 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007089336133[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010100460153 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010100460153[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008355460115 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008355460115[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010822558586 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010822558586[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008417002395 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008417002395[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010520397635 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010520397635[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007916101372 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007916101372[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009739236062 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009739236062[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007174190768 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007174190768[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008764720303 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008764720303[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006361386362 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006361386362[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004784628140 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004784628140[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006106503880 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006106503880[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004509908803 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004509908803[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003494811851 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003494811851[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004562252114 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004562252114[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003436186505 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003436186505[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004347192089 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004347192089[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003217916063 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003217916063[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004006284347 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004006284347[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002929591936 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002929591936[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003615191048 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003615191048[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004258721263 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004258721263[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002966490301 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002966490301[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003532206234 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003532206234[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002461652305 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002461652305[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002955208791 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002955208791[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001280512887 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001280512887[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001074230282 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001074230282[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001491827722 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001491827722[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001159173630 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001159173630[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000949214523 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000949214523[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001262603545 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001262603545[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000976323225 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000976323225[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001237320116 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001237320116[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000929907907 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000929907907[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001152946692 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001152946692[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000851265508 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000851265508[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001043925076 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001043925076[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000761163006 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000761163006[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000577026575 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000577026575[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000465267136 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000465267136[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000612445010 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000612445010[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000469223031 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000469223031[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000592832709 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000592832709[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000442138996 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000442138996[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000548300226 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000548300226[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000401613358 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000401613358[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000305409733 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000305409733[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000393577577 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000393577577[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000291428793 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000291428793[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000365913701 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000365913701[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000169229550 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000169229550[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000235224719 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000235224719[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000184027979 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000184027979[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000238786996 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000238786996[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000178742249 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000178742249[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000225577412 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000225577412[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000269344832 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000269344832[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000187949837 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000187949837[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000226381499 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000226381499[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000157071441 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000157071441[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000190667909 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000190667909[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131469313 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131469313[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000160774141 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000160774141[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001183491605 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001183491605[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135787105 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135787105[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001050986343 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001050986343[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001103983162 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001103983162[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000930549611 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000930549611[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000976221386 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000976221386[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000821657676 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000821657676[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860946299 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860946299[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000723662787 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000723662787[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000757400371 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000757400371[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000789557925 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000789557925[0m ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382141 ms (missed cycles : 3). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382141 ms (missed cycles : 3).[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000660541228 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000660541228[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000444994444 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000444994444[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000377154214 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000377154214[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000398075899 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000398075899[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000417999273 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000417999273[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000352122161 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000352122161[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000369359430 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000369359430[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000310731845 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000310731845[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000210537919 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000210537919[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000179693639 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000179693639[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000153855179 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000153855179[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000164409537 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000164409537[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000140323843 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000140323843[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000149550807 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000149550807[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000127252324 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000127252324[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000135316035 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000135316035[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000124496548 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000124496548[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000121810666 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000121810666[0m ×2 + 26.05sWARNcontroller_managerOverrun might occur, Total time : 2040.064 us (Expected < 1666.667 us) --> Read time : 125.603 us, Update time : 1613.795 us, Write time : 300.666 us + 26.06sWARNros2_control_nodeOverrun might occur, Total time : 2040.064 us (Expected < 1666.667 us) --> Read time : 125.603 us, Update time : 1613.795 us, Write time : 300.666 us[0m ×2 + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.245908 ms (missed cycles : 5). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.245908 ms (missed cycles : 5).[0m ×2 + 27.09sWARNcontroller_managerOverrun might occur, Total time : 8432.703 us (Expected < 1666.667 us) --> Read time : 193.774 us, Update time : 7730.448 us, Write time : 508.481 us + 27.09sWARNros2_control_nodeOverrun might occur, Total time : 8432.703 us (Expected < 1666.667 us) --> Read time : 193.774 us, Update time : 7730.448 us, Write time : 508.481 us[0m ×2 + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.327785 ms (missed cycles : 8). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.327785 ms (missed cycles : 8).[0m ×2 + 28.67sWARNcontroller_managerOverrun might occur, Total time : 3563.389 us (Expected < 1666.667 us) --> Read time : 147.404 us, Update time : 3134.169 us, Write time : 281.816 us + 28.68sWARNros2_control_nodeOverrun might occur, Total time : 3563.389 us (Expected < 1666.667 us) --> Read time : 147.404 us, Update time : 3134.169 us, Write time : 281.816 us[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833275 ms (missed cycles : 3). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833275 ms (missed cycles : 3).[0m ×2 + 29.93sWARNcontroller_managerOverrun might occur, Total time : 6751.606 us (Expected < 1666.667 us) --> Read time : 146.383 us, Update time : 6058.902 us, Write time : 546.321 us + 29.93sWARNros2_control_nodeOverrun might occur, Total time : 6751.606 us (Expected < 1666.667 us) --> Read time : 146.383 us, Update time : 6058.902 us, Write time : 546.321 us[0m ×2 + 30.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.977439 ms (missed cycles : 5). + 30.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.977439 ms (missed cycles : 5).[0m ×2 + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924547 ms (missed cycles : 2). + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924547 ms (missed cycles : 2).[0m ×2 + 31.06sWARNcontroller_managerOverrun might occur, Total time : 4024.338 us (Expected < 1666.667 us) --> Read time : 127.853 us, Update time : 3537.547 us, Write time : 358.938 us + 31.06sWARNros2_control_nodeOverrun might occur, Total time : 4024.338 us (Expected < 1666.667 us) --> Read time : 127.853 us, Update time : 3537.547 us, Write time : 358.938 us[0m ×2 + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694190 ms (missed cycles : 7). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694190 ms (missed cycles : 7).[0m ×2 + 32.94sWARNcontroller_managerOverrun might occur, Total time : 1907.281 us (Expected < 1666.667 us) --> Read time : 202.114 us, Update time : 1379.670 us, Write time : 325.497 us + 32.95sWARNros2_control_nodeOverrun might occur, Total time : 1907.281 us (Expected < 1666.667 us) --> Read time : 202.114 us, Update time : 1379.670 us, Write time : 325.497 us[0m ×2 + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764949 ms (missed cycles : 3). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764949 ms (missed cycles : 3).[0m ×2 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627958 ms (missed cycles : 4). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627958 ms (missed cycles : 4).[0m ×2 + 34.21sWARNcontroller_managerOverrun might occur, Total time : 10387.846 us (Expected < 1666.667 us) --> Read time : 171.234 us, Update time : 9769.852 us, Write time : 446.760 us + 34.21sWARNros2_control_nodeOverrun might occur, Total time : 10387.846 us (Expected < 1666.667 us) --> Read time : 171.234 us, Update time : 9769.852 us, Write time : 446.760 us[0m ×2 + 34.98sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780780431.19754934 seconds ×3 + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650470 ms (missed cycles : 4). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650470 ms (missed cycles : 4).[0m ×2 + 35.51sWARNcontroller_managerOverrun might occur, Total time : 6490.340 us (Expected < 1666.667 us) --> Read time : 505.731 us, Update time : 5508.969 us, Write time : 475.640 us + 35.51sWARNros2_control_nodeOverrun might occur, Total time : 6490.340 us (Expected < 1666.667 us) --> Read time : 505.731 us, Update time : 5508.969 us, Write time : 475.640 us[0m ×2 + 35.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780780431.81087303 seconds. ×3 + 35.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 35.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 36.00sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 36.01sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326773 ms (missed cycles : 2). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326773 ms (missed cycles : 2).[0m ×2 + 36.72sINFOobjective_server_nodeFound path in 6 iterations (0.00448954 s). ×2 + 36.76sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 36.77sINFOros2_control_node[2026-06-06 21:13:52.985] [info] Received new action goal ×2 + 36.77sINFOros2_control_node[2026-06-06 21:13:52.985] [info] Accepted new action goal ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856739 ms (missed cycles : 3). + 37.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856739 ms (missed cycles : 3).[0m ×2 + 38.21sWARNcontroller_managerOverrun might occur, Total time : 4759.723 us (Expected < 1666.667 us) --> Read time : 4424.796 us, Update time : 55.591 us, Write time : 279.336 us + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981259 ms (missed cycles : 3). + 38.21sWARNros2_control_nodeOverrun might occur, Total time : 4759.723 us (Expected < 1666.667 us) --> Read time : 4424.796 us, Update time : 55.591 us, Write time : 279.336 us[0m ×2 + 38.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981259 ms (missed cycles : 3).[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 | 31.4s | 8079 errors · 195 warnings · 89188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250355 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250355 ms (missed cycles : 5).[0m ×2 + 0.04sWARNcontroller_managerOverrun might occur, Total time : 5379.767 us (Expected < 1666.667 us) --> Read time : 99.522 us, Update time : 4907.157 us, Write time : 373.088 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 5379.767 us (Expected < 1666.667 us) --> Read time : 99.522 us, Update time : 4907.157 us, Write time : 373.088 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862040 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862040 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100643 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100643 ms (missed cycles : 5).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780780347.30287480 seconds ×3 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 5273.276 us (Expected < 1666.667 us) --> Read time : 139.834 us, Update time : 4746.354 us, Write time : 387.088 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 5273.276 us (Expected < 1666.667 us) --> Read time : 139.834 us, Update time : 4746.354 us, Write time : 387.088 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681870 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681870 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780780347.91289663 seconds. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.49sINFOros2_control_node[2026-06-06 21:12:28.066] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-06-06 21:12:28.066] [info] Accepted new action goal ×2 + 3.76sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 3.76sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949970 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949970 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_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 + 4.76sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×4 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.09sWARNcontroller_managerOverrun might occur, Total time : 2605.077 us (Expected < 1666.667 us) --> Read time : 143.093 us, Update time : 2131.717 us, Write time : 330.267 us + 5.09sWARNros2_control_nodeOverrun might occur, Total time : 2605.077 us (Expected < 1666.667 us) --> Read time : 143.093 us, Update time : 2131.717 us, Write time : 330.267 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407287 ms (missed cycles : 5). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407287 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129431 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129431 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun might occur, Total time : 4806.196 us (Expected < 1666.667 us) --> Read time : 109.122 us, Update time : 4317.985 us, Write time : 379.089 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 4806.196 us (Expected < 1666.667 us) --> Read time : 109.122 us, Update time : 4317.985 us, Write time : 379.089 us[0m ×2 + 7.09sINFOjoint_trajectory_controllerReceived new action goal ×2691 + 7.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000331764612675 + 7.10sINFOros2_control_nodeReceived new action goal[0m ×5382 + 7.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000331764612675[0m ×2 + 7.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000194323355156 + 7.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000194323355156[0m ×2 + 7.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000294544661172 + 7.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000294544661172[0m ×2 + 7.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110856570448 + 7.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000110856570448[0m ×2 + 7.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039102659668 + 7.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039102659668[0m ×2 + 7.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003957050979 + 7.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003957050979[0m ×2 + 7.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003774939580 + 7.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003774939580[0m ×2 + 7.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025435777258 + 7.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025435777258[0m ×2 + 7.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000280227207911 + 7.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000280227207911[0m ×2 + 7.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000157526857771 + 7.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000157526857771[0m ×2 + 7.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000996051128674 + 7.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000996051128674[0m ×2 + 7.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000436748113686 + 7.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000436748113686[0m ×2 + 7.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000231579139571 + 7.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000231579139571[0m ×2 + 7.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000466897210279 + 7.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000466897210279[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698536 ms (missed cycles : 4). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698536 ms (missed cycles : 4).[0m ×2 + 7.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000814592466789 + 7.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000814592466789[0m ×2 + 7.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000760680178899 + 7.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000760680178899[0m ×2 + 7.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910609035729 + 7.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000910609035729[0m ×2 + 7.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001441804511952 + 7.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001441804511952[0m ×2 + 7.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782589399035 + 7.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782589399035[0m ×2 + 7.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494181843965 + 7.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494181843965[0m ×2 + 7.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001641825348510 + 7.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001641825348510[0m ×2 + 7.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001821665987451 ×2 + 7.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001821665987451[0m ×4 + 7.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741538851727 ×2 + 7.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741538851727[0m ×4 + 7.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000768478898890 + 7.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000768478898890[0m ×2 + 7.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169834828377 ×2 + 7.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169834828377[0m ×4 + 7.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010789753192 ×2 + 7.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010789753192[0m ×4 + 7.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000313048485748 + 7.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000313048485748[0m ×2 + 7.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000324722506097 + 7.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000324722506097[0m ×2 + 7.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000342287616319 + 7.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000342287616319[0m ×2 + 7.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000407654941487 + 7.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000407654941487[0m ×2 + 7.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000818154946777 + 7.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000818154946777[0m ×2 + 7.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016384515302 + 7.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016384515302[0m ×2 + 7.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133390622599 + 7.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133390622599[0m ×2 + 7.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000380467545968 + 7.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000380467545968[0m ×2 + 7.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010284639757 + 7.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010284639757[0m ×2 + 7.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000700519574512 + 7.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000700519574512[0m ×2 + 7.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369644704182 ×2 + 7.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369644704182[0m ×4 + 7.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153327099311 + 7.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153327099311[0m ×2 + 7.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153775108699 + 7.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153775108699[0m ×2 + 7.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022036620458 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022036620458[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050255968706 ×2 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050255968706[0m ×4 + 7.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084007951836 ×2 + 7.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084007951836[0m ×4 + 7.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014302849914 + 7.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014302849914[0m ×2 + 7.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014338793330 + 7.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014338793330[0m ×2 + 7.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000186837030665 + 7.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000186837030665[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136750878887 + 7.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136750878887[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136479820166 + 7.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136479820166[0m ×2 + 7.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000479636435365 + 7.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000479636435365[0m ×2 + 7.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000413144807592 + 7.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000413144807592[0m ×2 + 7.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000260287895858 + 7.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000260287895858[0m ×2 + 7.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000591439746166 + 7.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000591439746166[0m ×2 + 7.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000934852381536 + 7.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000934852381536[0m ×2 + 7.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001128245703548 + 7.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001128245703548[0m ×2 + 7.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000995358158604 + 7.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000995358158604[0m ×2 + 7.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483788281917 + 7.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483788281917[0m ×2 + 7.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000463408155357 + 7.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000463408155357[0m ×2 + 7.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010497863819 + 7.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010497863819[0m ×2 + 7.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000691906269222 + 7.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000691906269222[0m ×2 + 7.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000780137746271 + 7.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000780137746271[0m ×2 + 7.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000824536944760 + 7.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000824536944760[0m ×2 + 7.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000714051084671 + 7.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000714051084671[0m ×2 + 7.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096975944327 + 7.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096975944327[0m ×2 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104945096784 + 7.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104945096784[0m ×2 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070890494102 + 7.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070890494102[0m ×2 + 7.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089009199768 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089009199768[0m ×2 + 7.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293178387131 ×2 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293178387131[0m ×4 + 7.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122784150203 + 7.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122784150203[0m ×2 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106105525435 + 7.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106105525435[0m ×2 + 7.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106080934364 + 7.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106080934364[0m ×2 + 7.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000328323778884 + 7.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000328323778884[0m ×2 + 7.65sWARNcontroller_managerOverrun might occur, Total time : 6786.928 us (Expected < 1666.667 us) --> Read time : 83.821 us, Update time : 6200.996 us, Write time : 502.111 us + 7.66sWARNros2_control_nodeOverrun might occur, Total time : 6786.928 us (Expected < 1666.667 us) --> Read time : 83.821 us, Update time : 6200.996 us, Write time : 502.111 us[0m ×2 + 7.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001014336402072 + 7.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001014336402072[0m ×2 + 7.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000103876090035 + 7.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000103876090035[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001971944026 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001971944026[0m ×2 + 7.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000202009619079 + 7.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000202009619079[0m ×2 + 7.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205749624458 + 7.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205749624458[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096468260654 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096468260654[0m ×2 + 7.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066466361133 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066466361133[0m ×2 + 7.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000258492907911 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000258492907911[0m ×2 + 7.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000157842292473 + 7.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000157842292473[0m ×2 + 7.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000440760468395 + 7.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000440760468395[0m ×2 + 7.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000547936599991 + 7.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000547936599991[0m ×2 + 7.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000399430760576 + 7.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000399430760576[0m ×2 + 7.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000318890360913 + 7.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000318890360913[0m ×2 + 7.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037484529106 + 7.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037484529106[0m ×2 + 7.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013395416445 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013395416445[0m ×2 + 7.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013567130956 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013567130956[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000255115254251 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000255115254251[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079189751344 + 7.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079189751344[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000199791498330 + 7.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000199791498330[0m ×2 + 7.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000295893312823 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000295893312823[0m ×2 + 7.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135387629554 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135387629554[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030754940344 ×2 + 7.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030754940344[0m ×4 + 7.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000262056480783 + 7.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000262056480783[0m ×2 + 7.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000209598755461 + 7.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000209598755461[0m ×2 + 7.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106877990712 + 7.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106877990712[0m ×2 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000769793259576 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000769793259576[0m ×2 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000858450410318 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000858450410318[0m ×2 + 7.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395989276056 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395989276056[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395276787605 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395276787605[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167485991723 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167485991723[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167483693876 + 7.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167483693876[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041960665890 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041960665890[0m ×2 + 7.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075175419285 ×2 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075175419285[0m ×4 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000578120211 ×2 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000578120211[0m ×4 + 7.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027234594058 + 7.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027234594058[0m ×2 + 7.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070488810229 ×2 + 7.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070488810229[0m ×4 + 7.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044996606257 ×2 + 7.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044996606257[0m ×4 + 7.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032551135205 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032551135205[0m ×2 + 7.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000147675581766 ×2 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000147675581766[0m ×4 + 7.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092446253776 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092446253776[0m ×2 + 7.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055221303780 ×2 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055221303780[0m ×4 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030082398040 ×2 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030082398040[0m ×4 + 8.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115260067146 + 8.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115260067146[0m ×2 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000295055492785 ×2 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000295055492785[0m ×4 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000171871274022 ×2 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000171871274022[0m ×4 + 8.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102124592246 + 8.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102124592246[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039885197480 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039885197480[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096656024573 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096656024573[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076651687387 ×2 + 8.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076651687387[0m ×4 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057615106533 ×2 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057615106533[0m ×4 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037840957822 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037840957822[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028672377672 ×2 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028672377672[0m ×4 + 8.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015850011074 + 8.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015850011074[0m ×2 + 8.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008747160110 + 8.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008747160110[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183986360581 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183986360581[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205943846575 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205943846575[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000818002828515 + 8.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000818002828515[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000817869600301 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000817869600301[0m ×2 + 8.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000477337758383 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000477337758383[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000495759604333 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000495759604333[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000704024950276 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569254 ms (missed cycles : 4). + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000704024950276[0m ×2 + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569254 ms (missed cycles : 4).[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001075416357253 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001075416357253[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001282542851649 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001282542851649[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001662591832224 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001662591832224[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611503830953 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611503830953[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001986695688990 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001986695688990[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002356776272043 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002356776272043[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001816519869555 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001816519869555[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567843468151 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567843468151[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400174579637 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400174579637[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789496980155 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789496980155[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525143690415 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525143690415[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001134092540696 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001134092540696[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001264974015648 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001264974015648[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805180023904 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805180023904[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001922522453777 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001922522453777[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604997449758 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604997449758[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000684324078044 ×2 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000684324078044[0m ×4 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001464215482103 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001464215482103[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352789774202 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352789774202[0m ×2 + 8.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001282162228942 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001282162228942[0m ×2 + 8.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001204127272665 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001204127272665[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001411849552088 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001411849552088[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000839870360089 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000839870360089[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000872892417232 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000872892417232[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001005330432496 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001005330432496[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001064225732159 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001064225732159[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001064138631779 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001064138631779[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000684113102003 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000684113102003[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000995383996102 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000995383996102[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000762676285016 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000762676285016[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000875306244116 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000875306244116[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001720346178636 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001720346178636[0m ×2 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001730575343573 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001730575343573[0m ×2 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000924065129666 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000924065129666[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001135932280319 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001135932280319[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557276242644 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557276242644[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002124565915581 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002124565915581[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002245030869386 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002245030869386[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886386248383 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886386248383[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660251141546 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660251141546[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533624216444 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533624216444[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001420183647827 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001420183647827[0m ×2 + 8.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001816630090039 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001816630090039[0m ×2 + 8.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000837334144192 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000837334144192[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584075373067 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584075373067[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001421654615843 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001421654615843[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001340869998948 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001340869998948[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136526859620 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136526859620[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000137767984565 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000137767984565[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000496885087524 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000496885087524[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000905332991810 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000905332991810[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001804951017153 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001804951017153[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353804673947 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353804673947[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002473507774690 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002473507774690[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002085515287933 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002085515287933[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265607952461 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265607952461[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001913248644999 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001913248644999[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683782455145 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683782455145[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077217027224 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077217027224[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001148166863204 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001148166863204[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371204707621 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371204707621[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001312602043950 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001312602043950[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001442940185836 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001442940185836[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001345051794820 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001345051794820[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001324678671964 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001324678671964[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001736165874840 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001736165874840[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573112391550 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573112391550[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001797256519941 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001797256519941[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000842409188451 ×2 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000842409188451[0m ×4 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000479437831603 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000479437831603[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000895850395555 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000895850395555[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001859946574360 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001859946574360[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001894110854903 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001894110854903[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814007738693 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814007738693[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002350994227966 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002350994227966[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002010973843129 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002010973843129[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002027093271158 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002027093271158[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001773154368705 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001773154368705[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001896025024826 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001896025024826[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680330964950 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680330964950[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001910448625500 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001910448625500[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683742103887 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683742103887[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001540898667663 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001540898667663[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001768907414707 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001768907414707[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001596848952436 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001596848952436[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825651455358 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825651455358[0m ×2 + 8.85sWARNcontroller_managerOverrun might occur, Total time : 1783.759 us (Expected < 1666.667 us) --> Read time : 177.964 us, Update time : 44.611 us, Write time : 1561.184 us + 8.85sWARNros2_control_nodeOverrun might occur, Total time : 1783.759 us (Expected < 1666.667 us) --> Read time : 177.964 us, Update time : 44.611 us, Write time : 1561.184 us[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001631881291873 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001631881291873[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634537068893 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634537068893[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001695502419387 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001695502419387[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919254708953 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919254708953[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001306111478705 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001306111478705[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001363670931969 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001363670931969[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001791051182460 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001791051182460[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001667234606842 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001667234606842[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001897580129198 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001897580129198[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001724198440702 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001724198440702[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001610717478003 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001610717478003[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002036685827376 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002036685827376[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001798353481940 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001798353481940[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002029567220571 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002029567220571[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001792978689240 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001792978689240[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632419659319 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632419659319[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536431384489 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536431384489[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002157191906090 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002157191906090[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002195027357813 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002195027357813[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001896301243508 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001896301243508[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002023616936296 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002023616936296[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001779203106720 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001779203106720[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002234812561716 + 9.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002234812561716[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002381727949824 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002381727949824[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001204346285193 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001204346285193[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001947063242000 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001947063242000[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002434586343389 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002434586343389[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001242051624883 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001242051624883[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001242403604715 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001242403604715[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000497932092174 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000497932092174[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001547397312906 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001547397312906[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002230757956765 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002230757956765[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164849606884 ×2 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164849606884[0m ×4 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001982070563768 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001982070563768[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001037775227551 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001037775227551[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001426677696606 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001426677696606[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002156567378281 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002156567378281[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001926295768074 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001926295768074[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001773639092336 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001773639092336[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357456017676 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357456017676[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002035187465166 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002035187465166[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002272872574829 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002272872574829[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001964939581275 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001964939581275[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001766029680644 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001766029680644[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002202877114393 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002202877114393[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001100823368252 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001100823368252[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001923339254060 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001923339254060[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002364667908252 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002364667908252[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002036730056784 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002036730056784[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002275903234217 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002275903234217[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671419 ms (missed cycles : 2). + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001665665314591 + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671419 ms (missed cycles : 2).[0m ×2 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001665665314591[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001734861112150 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001734861112150[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366687525438 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366687525438[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061339171980 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061339171980[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002301387465158 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002301387465158[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003289658213 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003289658213[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001808507999174 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001808507999174[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002253040667351 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002253040667351[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001964135680561 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001964135680561[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409075215476 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409075215476[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002051151380460 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002051151380460[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001821791136254 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001821791136254[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002382897914784 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002382897914784[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453602163801 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453602163801[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002083480921732 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002083480921732[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001845377690737 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001845377690737[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002293457850219 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002293457850219[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001978487756589 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001978487756589[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001859836827917 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001859836827917[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886096641016 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001886096641016[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002130028905898 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002130028905898[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652771233663 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652771233663[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002255191448507 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002255191448507[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705571702252 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705571702252[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693096577170 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693096577170[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131827959324 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131827959324[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002671275639254 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002671275639254[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983964383048 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983964383048[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004929158116 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004929158116[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477409381569 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002477409381569[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102215679225 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102215679225[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002345385962483 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002345385962483[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002014756143813 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002014756143813[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002521686727364 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002521686727364[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002130787186357 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002130787186357[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002581959094641 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002581959094641[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002715229781494 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002715229781494[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002279770522063 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002279770522063[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973826335810 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973826335810[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002427270554715 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002427270554715[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070198334834 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070198334834[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002526367695812 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002526367695812[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002127980301618 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002127980301618[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278036798766 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278036798766[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001583624968038 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001583624968038[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353203714612 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353203714612[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811167711688 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811167711688[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003125613587435 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003125613587435[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003259856930295 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003259856930295[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644556578231 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644556578231[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947795023976 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947795023976[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002987180280879 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002987180280879[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437854066524 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437854066524[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002686357352218 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002686357352218[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002226961552446 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002226961552446[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659482046991 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659482046991[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795680566909 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795680566909[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002179196545715 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002179196545715[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640095526942 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640095526942[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949316162021 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949316162021[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003067180813246 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003067180813246[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485071103060 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485071103060[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946899792538 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946899792538[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002392877888443 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002392877888443[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001608425508187 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001608425508187[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074353449686 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074353449686[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002669461542520 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002669461542520[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003023550511864 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003023550511864[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099801002573 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099801002573[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553931077344 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553931077344[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919774002262 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919774002262[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171045605082 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171045605082[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002565414987529 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002565414987529[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002896138100208 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002896138100208[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035044217685 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035044217685[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451583133300 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451583133300[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002917033009681 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002917033009681[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002374740607319 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002374740607319[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840496213921 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840496213921[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002321930567794 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002321930567794[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002730605784294 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002730605784294[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983204493627 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983204493627[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421928098595 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421928098595[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002888570269223 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002888570269223[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002355118552343 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002355118552343[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822090033485 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822090033485[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311367982204 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311367982204[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001608516780062 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001608516780062[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404032500479 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404032500479[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002872485789672 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002872485789672[0m ×2 + 9.94sWARNcontroller_managerOverrun might occur, Total time : 2151.178 us (Expected < 1666.667 us) --> Read time : 149.404 us, Update time : 1700.077 us, Write time : 301.697 us + 9.94sWARNros2_control_nodeOverrun might occur, Total time : 2151.178 us (Expected < 1666.667 us) --> Read time : 149.404 us, Update time : 1700.077 us, Write time : 301.697 us[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377182849033 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377182849033[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178694446488 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178694446488[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002762018719281 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002762018719281[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230904604666 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230904604666[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003407252226156 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003407252226156[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480845058823 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480845058823[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732677209032 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732677209032[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002915718974156 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002915718974156[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003385909664326 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003385909664326[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002694640780802 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002694640780802[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769150057220 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769150057220[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002267401329434 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002267401329434[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699501505429 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699501505429[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002954239931056 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002954239931056[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002261549040159 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002261549040159[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002058838219069 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002058838219069[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667935135053 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667935135053[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539572010089 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539572010089[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590765776733 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590765776733[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846297933448 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846297933448[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318342185421 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318342185421[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003386762751012 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003386762751012[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003461622236742 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003461622236742[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002720352033308 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002720352033308[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192733026879 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192733026879[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003278512464427 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003278512464427[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587144316187 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587144316187[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002096044464084 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002096044464084[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967478616938 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967478616938[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003193925458784 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003193925458784[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667413505491 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003667413505491[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002878144195204 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002878144195204[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351811356877 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351811356877[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398504107979 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398504107979[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674099931452 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674099931452[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147908079889 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147908079889[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003251360545300 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003251360545300[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316638087553 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316638087553[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002614153648752 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002614153648752[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913928282905 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913928282905[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388350215972 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275631 ms (missed cycles : 2). + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388350215972[0m ×2 + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275631 ms (missed cycles : 2).[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002670282454073 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002670282454073[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958268451110 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958268451110[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150403006480 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150403006480[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003272780853583 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003272780853583[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411917065197 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411917065197[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687952961970 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687952961970[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003163258589782 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003163258589782[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003268754437237 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003268754437237[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003334439052242 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003334439052242[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372621554456 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372621554456[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448003117081 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448003117081[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002418730150634 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002418730150634[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003298165021383 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003298165021383[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380827813185 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380827813185[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003638441398047 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003638441398047[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003582316083048 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003582316083048[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003532438288139 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003532438288139[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003573265700764 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003573265700764[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003515995449606 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003515995449606[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538096239799 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538096239799[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486216649054 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486216649054[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449049528429 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449049528429[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003489899149554 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003489899149554[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449232609885 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449232609885[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471342046806 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471342046806[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001801353677014 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001801353677014[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002503582746039 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002503582746039[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003384693593302 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003384693593302[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003508935090455 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003508935090455[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389780611014 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389780611014[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106555777893 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106555777893[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881364531962 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881364531962[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020954610944 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020954610944[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003798038612343 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003798038612343[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003638716868903 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003638716868903[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529775246638 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529775246638[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669359173592 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669359173592[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003546396696822 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003546396696822[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685713446745 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685713446745[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003554033456802 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003554033456802[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003469953967918 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003469953967918[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609853913465 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609853913465[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003809789808690 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003809789808690[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948112641194 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948112641194[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784155064527 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784155064527[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004042012126083 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004042012126083[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818198843986 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818198843986[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957742462781 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957742462781[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963621107499 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963621107499[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000157952494 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000157952494[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139624141141 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139624141141[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895506710827 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895506710827[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715290414624 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715290414624[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191320354599 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191320354599[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884200615696 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884200615696[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023571596786 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023571596786[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759958869562 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759958869562[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003584976772571 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003584976772571[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842359525675 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842359525675[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635519632227 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635519632227[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503628573332 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503628573332[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424989466993 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424989466993[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900377683498 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900377683498[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678249822626 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678249822626[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003533928517051 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003533928517051[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008987511101 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008987511101[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741170555996 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741170555996[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566209547762 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566209547762[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040950244943 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040950244943[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753979636128 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753979636128[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010783952523 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010783952523[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727671243461 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727671243461[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003802082677589 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003802082677589[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648156401127 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648156401127[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004523978462901 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004523978462901[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086335584961 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086335584961[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342693667693 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342693667693[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944486367464 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944486367464[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200709726537 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200709726537[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003838585935181 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003838585935181[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603065112550 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603065112550[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076140740787 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076140740787[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753140445769 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753140445769[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004225963873382 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004225963873382[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841493440215 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841493440215[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594054472841 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594054472841[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444177986541 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444177986541[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360643116382 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360643116382[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004232783418097 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004232783418097[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863103323987 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863103323987[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334705546259 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334705546259[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913500721583 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913500721583[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004384915321361 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004384915321361[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931559238692 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931559238692[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819903471786 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819903471786[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625373874766 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625373874766[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858663742499 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858663742499[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004263637988873 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004263637988873[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004733286166727 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004733286166727[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150479954138 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150479954138[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004619786722859 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004619786722859[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055698597795 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055698597795[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524652135943 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524652135943[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980725136795 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980725136795[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632446656631 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632446656631[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497865502009 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497865502009[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961585675358 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961585675358[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429482313664 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429482313664[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003910211103862 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003910211103862[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377740937085 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377740937085[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872853450111 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872853450111[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340008973881 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340008973881[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846475991724 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846475991724[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537832320246 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537832320246[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004399853438235 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004399853438235[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894410410029 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894410410029[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360435755402 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360435755402[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863615406969 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863615406969[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053278276610 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053278276610[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518497226829 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518497226829[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004830658989767 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004830658989767[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005688961447312 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005688961447312[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576236030807 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576236030807[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836189141685 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836189141685[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005604085220368 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005604085220368[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694528900961 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694528900961[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548416194931 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548416194931[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004601717841090 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004601717841090[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063252778543 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063252778543[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256011265681 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256011265681[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005107962176022 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005107962176022[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004263158549042 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004263158549042[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723645563996 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723645563996[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004006786559632 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004006786559632[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856797944372 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856797944372[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086839575854 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086839575854[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931926012280 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931926012280[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943580 ms (missed cycles : 3). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943580 ms (missed cycles : 3).[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997353528193 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997353528193[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935075738991 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935075738991[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196162346834 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196162346834[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040596408716 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040596408716[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237815450959 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237815450959[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037494871517 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037494871517[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284084701530 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284084701530[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004371528209041 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004371528209041[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826709103937 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826709103937[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060791801279 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060791801279[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900923606611 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900923606611[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098669179437 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098669179437[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004905246629544 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004905246629544[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150542235384 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150542235384[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037940338411 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037940338411[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004874031502078 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004874031502078[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005432364617224 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005432364617224[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004450452326606 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004450452326606[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005283886107754 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005283886107754[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326068294383 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326068294383[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005158278777509 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005158278777509[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226468008564 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226468008564[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005057437728775 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005057437728775[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149950878658 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149950878658[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979647439278 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979647439278[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093077250049 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093077250049[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003559588788638 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003559588788638[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386595784689 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386595784689[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109935025889 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109935025889[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546691766143 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546691766143[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992389705766 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992389705766[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772701268320 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772701268320[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254304147943 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254304147943[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546538431103 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546538431103[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005676401649611 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005676401649611[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504954220344 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504954220344[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005323297957540 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005323297957540[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259014470750 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259014470750[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866628115765 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866628115765[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005262347457756 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005262347457756[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005702773370892 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005702773370892[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072597689114 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072597689114[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005572853754704 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005572853754704[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722496702326 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722496702326[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514284970235 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514284970235[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005322768630433 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005322768630433[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502555937455 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502555937455[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005738735623088 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005738735623088[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482737710854 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482737710854[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004942381315197 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004942381315197[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005746025159955 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005746025159955[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482684968891 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482684968891[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284866300333 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284866300333[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005429040021663 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005429040021663[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856752190066 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856752190066[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004591161322399 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004591161322399[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005065483082578 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005065483082578[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006534364445951 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006534364445951[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006260638371070 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006260638371070[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006025946565274 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006025946565274[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006093759598124 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006093759598124[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005877713517182 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005877713517182[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005945375514862 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005945375514862[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005753919755586 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005753919755586[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005613262705846 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005613262705846[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005513022086026 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005513022086026[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005443326300473 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005443326300473[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005672207385051 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005672207385051[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537206714043 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537206714043[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765503698252 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765503698252[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005584997736944 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005584997736944[0m ×2 + 11.77sWARNcontroller_managerOverrun might occur, Total time : 7014.972 us (Expected < 1666.667 us) --> Read time : 78.561 us, Update time : 6499.861 us, Write time : 436.550 us + 11.77sWARNros2_control_nodeOverrun might occur, Total time : 7014.972 us (Expected < 1666.667 us) --> Read time : 78.561 us, Update time : 6499.861 us, Write time : 436.550 us[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005987015131678 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005987015131678[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005780437896056 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005780437896056[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005616479765452 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005616479765452[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490759035254 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490759035254[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396824005543 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396824005543[0m ×2 + 11.82sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416592 ms (missed cycles : 4). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416592 ms (missed cycles : 4).[0m ×2 + 12.80sWARNcontroller_managerOverrun might occur, Total time : 1726.298 us (Expected < 1666.667 us) --> Read time : 244.126 us, Update time : 632.634 us, Write time : 849.538 us + 12.80sWARNros2_control_nodeOverrun might occur, Total time : 1726.298 us (Expected < 1666.667 us) --> Read time : 244.126 us, Update time : 632.634 us, Write time : 849.538 us[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942950 ms (missed cycles : 2). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942950 ms (missed cycles : 2).[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000541696246000 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000541696246000[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000154211806749 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000154211806749[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000723161760252 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000723161760252[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000854828969268 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000854828969268[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000775174112967 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000775174112967[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001326751757153 + 13.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001326751757153[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000846037844424 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000846037844424[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000141751463016 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000141751463016[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080686356779 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080686356779[0m ×2 + 13.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000212873584945 + 13.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000212873584945[0m ×2 + 13.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180113407771 + 13.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180113407771[0m ×2 + 13.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179889442980 + 13.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179889442980[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000528549773294 + 13.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000528549773294[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000588029876853 + 13.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000588029876853[0m ×2 + 13.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000942518935509 + 13.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000942518935509[0m ×2 + 13.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000354264843993 + 13.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000354264843993[0m ×2 + 13.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130974694658 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130974694658[0m ×2 + 13.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122039642028 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122039642028[0m ×2 + 13.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042949325696 + 13.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042949325696[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093599589371 ×2 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093599589371[0m ×4 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109263750786 ×2 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109263750786[0m ×4 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096832876069 ×2 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096832876069[0m ×4 + 13.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000103779516256 + 13.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000103779516256[0m ×2 + 13.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000268512564146 + 13.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000268512564146[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000659020303570 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000659020303570[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000949060657817 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000949060657817[0m ×2 + 13.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000359884817604 + 13.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000359884817604[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080801967249 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080801967249[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000639978701249 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000639978701249[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000316572424966 + 13.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000316572424966[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090692698309 + 13.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090692698309[0m ×2 + 13.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000248976675002 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000248976675002[0m ×2 + 13.84sWARNcontroller_managerOverrun might occur, Total time : 2713.599 us (Expected < 1666.667 us) --> Read time : 114.182 us, Update time : 49.581 us, Write time : 2549.836 us + 13.84sWARNros2_control_nodeOverrun might occur, Total time : 2713.599 us (Expected < 1666.667 us) --> Read time : 114.182 us, Update time : 49.581 us, Write time : 2549.836 us[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000355806849644 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000355806849644[0m ×2 + 13.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130304620341 + 13.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130304620341[0m ×2 + 13.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106642756626 + 13.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106642756626[0m ×2 + 13.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100645140499 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100645140499[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000925405097750 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000925405097750[0m ×2 + 13.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000700483122023 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000700483122023[0m ×2 + 13.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000711228057788 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000711228057788[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001542964254396 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001542964254396[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001543011312758 + 13.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001543011312758[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000304754450148 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000304754450148[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000633386208110 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000633386208110[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611060076571 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611060076571[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002140033794416 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002140033794416[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001605547724036 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001605547724036[0m ×2 + 13.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001678291795317 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001678291795317[0m ×2 + 13.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000754970691220 + 13.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000754970691220[0m ×2 + 13.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000755074065666 + 13.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000755074065666[0m ×2 + 13.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000230066380330 + 13.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000230066380330[0m ×2 + 13.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491789946043 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491789946043[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001253357420736 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001253357420736[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000497267437285 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000497267437285[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000496949334099 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000496949334099[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000565357833086 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000565357833086[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000564028236311 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000564028236311[0m ×2 + 14.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002351776710383 + 14.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002351776710383[0m ×2 + 14.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002399155290901 + 14.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002399155290901[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000648723234520 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000648723234520[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162385591465 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162385591465[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000586022205588 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000586022205588[0m ×2 + 14.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000751763270096 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000751763270096[0m ×2 + 14.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000268054922927 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000268054922927[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000239672209446 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000239672209446[0m ×2 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030662783821 ×2 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030662783821[0m ×4 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001212112645931 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001212112645931[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000853852512278 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000853852512278[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000573810171137 ×2 + 14.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000573810171137[0m ×4 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000693551032329 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000693551032329[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000413151582353 + 14.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000413151582353[0m ×2 + 14.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000403146685705 + 14.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000403146685705[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000212874100664 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000212874100664[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000355307505789 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000355307505789[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000273018386059 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000273018386059[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000201233913602 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000201233913602[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000323091170822 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000323091170822[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000519976869865 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000519976869865[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264027804112 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264027804112[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000517389048535 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000517389048535[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000657144367340 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000657144367340[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003688225609 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003688225609[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915238131536 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915238131536[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002785142299497 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002785142299497[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790788274558 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790788274558[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790790482676 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790790482676[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002072064877238 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002072064877238[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000928048291943 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000928048291943[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818930929832 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818930929832[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361004797203 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361004797203[0m ×2 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001297013010245 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485266 ms (missed cycles : 4). + 14.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001297013010245[0m ×2 + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485266 ms (missed cycles : 4).[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092347841214 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092347841214[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115222712592 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115222712592[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000127527763089 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000127527763089[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000229916807676 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000229916807676[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086586270038 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086586270038[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001603380509226 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001603380509226[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853874313883 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853874313883[0m ×2 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871198340125 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871198340125[0m ×2 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007058995308455 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007058995308455[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008258587871784 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008258587871784[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004690724840196 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004690724840196[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004643347163227 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004643347163227[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525512629901 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525512629901[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392937199922 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392937199922[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005890283136555 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005890283136555[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005753937631208 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005753937631208[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005613153839519 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005613153839519[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919864705697 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919864705697[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007638229104866 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007638229104866[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972055471544 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972055471544[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972121358028 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972121358028[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624012883846 ×2 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624012883846[0m ×4 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000221134490367 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000221134490367[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000533573130793 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000533573130793[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000885792150749 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000885792150749[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000980207550197 ×2 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000980207550197[0m ×4 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000896927675886 ×2 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000896927675886[0m ×4 + 14.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052063201069 + 14.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052063201069[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051904720430 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051904720430[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000273019326059 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000273019326059[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000793354711 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000793354711[0m ×2 + 14.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000131694668995 ×2 + 14.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000131694668995[0m ×4 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000065376059948 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000065376059948[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002247080063838 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002247080063838[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004556245319 + 14.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004556245319[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241666250880 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241666250880[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004816111659490 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004816111659490[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899777171271 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899777171271[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006676595889017 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006676595889017[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008169366531677 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008169366531677[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007352921155725 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007352921155725[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007352676577116 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007352676577116[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596756763225 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596756763225[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596884330447 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596884330447[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001344931586836 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001344931586836[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001344527407684 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001344527407684[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135632068355 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135632068355[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000572036798511 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000572036798511[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000661692432296 + 14.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000661692432296[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000934962078669 ×2 + 14.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000934962078669[0m ×4 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000724834074431 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000724834074431[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000194998493229 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000194998493229[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001073332418283 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001073332418283[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000883007081457 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000883007081457[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801792875575 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801792875575[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686776334461 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686776334461[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790525081597 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790525081597[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003586358531631 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003586358531631[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393159235234 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393159235234[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708812405484 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708812405484[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303465508426 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303465508426[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321813283756 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321813283756[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004567911743170 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004567911743170[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004682959210527 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004682959210527[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612483297426 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612483297426[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726956067395 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726956067395[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002989574943265 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002989574943265[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201549633022 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201549633022[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673955847225 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673955847225[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001009610019504 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001009610019504[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839633228133 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839633228133[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004261613911280 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004261613911280[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313933692572 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313933692572[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002205479218346 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002205479218346[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000864529779525 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000864529779525[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000864331353805 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000864331353805[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586746244152 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586746244152[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001942290572147 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001942290572147[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074271541791 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074271541791[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185578176324 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185578176324[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866364629415 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866364629415[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657383166979 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657383166979[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001166516127715 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001166516127715[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001816707366410 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001816707366410[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994188963852 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994188963852[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001955107163658 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001955107163658[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000777052695163 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000777052695163[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001305031646776 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001305031646776[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000770578727156 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000770578727156[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000734037052434 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000734037052434[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001849583975657 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001849583975657[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002053078496976 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002053078496976[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776339501071 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776339501071[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002757882374859 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002757882374859[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003139417622190 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003139417622190[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923693559888 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923693559888[0m ×2 + 15.04sWARNcontroller_managerOverrun might occur, Total time : 3542.527 us (Expected < 1666.667 us) --> Read time : 153.513 us, Update time : 3095.447 us, Write time : 293.567 us + 15.04sWARNros2_control_nodeOverrun might occur, Total time : 3542.527 us (Expected < 1666.667 us) --> Read time : 153.513 us, Update time : 3095.447 us, Write time : 293.567 us[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002187035792205 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002187035792205[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001115190354636 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001115190354636[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355695508582 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355695508582[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691122486796 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691122486796[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599595469870 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599595469870[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776535263863 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776535263863[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203455289518 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203455289518[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003060839608927 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003060839608927[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848044653601 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848044653601[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001338068878681 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001338068878681[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828974391711 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828974391711[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003027345550268 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003027345550268[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881128904771 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881128904771[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003407650401506 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003407650401506[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003804119386990 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003804119386990[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231514305962 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231514305962[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820931643296 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820931643296[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235469961815 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235469961815[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899806224755 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899806224755[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709451443559 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709451443559[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585076141250 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585076141250[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867025902044 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867025902044[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321019412998 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321019412998[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505398437742 + 15.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505398437742[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059951420292 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059951420292[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858431741037 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858431741037[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183745333221 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183745333221[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003622823144729 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003622823144729[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003152640714451 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003152640714451[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002815392968793 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002815392968793[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003559577284904 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003559577284904[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003011319730102 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003011319730102[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615642246338 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615642246338[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001838661304800 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001838661304800[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002927335101338 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002927335101338[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462959430273 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462959430273[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002808968116074 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002808968116074[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006017327953344 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006017327953344[0m ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707880 ms (missed cycles : 2). + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007615956645182 + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707880 ms (missed cycles : 2).[0m ×2 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007615956645182[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007885637710017 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007885637710017[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181687187929 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181687187929[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001242212447430 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001242212447430[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100749670063 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100749670063[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461700718156 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461700718156[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000872849593210 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000872849593210[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962636707199 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962636707199[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444296381261 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444296381261[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531009099696 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531009099696[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001705849897554 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001705849897554[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169265972031 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169265972031[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002068083750452 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002068083750452[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381521530692 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381521530692[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755469389881 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755469389881[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121566896351 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121566896351[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002729007844680 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002729007844680[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002908704996791 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002908704996791[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001958943010597 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001958943010597[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001767716313861 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001767716313861[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001800109373658 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001800109373658[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002945538564699 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002945538564699[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003050683378512 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003050683378512[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742571083134 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742571083134[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002559614423117 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002559614423117[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239215721402 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239215721402[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002853173925867 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002853173925867[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003222547460371 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003222547460371[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831802576322 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831802576322[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208285540158 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208285540158[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002403281106047 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002403281106047[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785151960858 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785151960858[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004451360192637 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004451360192637[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003628019538697 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003628019538697[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275315970436 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275315970436[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412877087622 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412877087622[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002851475134280 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002851475134280[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040222414903 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040222414903[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110983608404 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110983608404[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597214802926 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597214802926[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004628392347310 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004628392347310[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000817703338140 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000817703338140[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001083241665002 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001083241665002[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313262315493 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313262315493[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000718906927706 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000718906927706[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000788796782140 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000788796782140[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000939171023204 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000939171023204[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001228329689901 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001228329689901[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001461233578308 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001461233578308[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002314223967893 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002314223967893[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002815540255097 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002815540255097[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003170892951999 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003170892951999[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003981726761064 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003981726761064[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333619901679 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333619901679[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576696789539 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576696789539[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052467755009 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052467755009[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707590077808 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707590077808[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099800144803 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099800144803[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455004138496 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455004138496[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916433709132 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916433709132[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003643501920878 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003643501920878[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699103243537 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699103243537[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003048388902355 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003048388902355[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003403036871619 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003403036871619[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002861103377680 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002861103377680[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514910263602 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514910263602[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683502516818 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683502516818[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968508866618 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968508866618[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003616789599356 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003616789599356[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002039371855380 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002039371855380[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001857643356555 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001857643356555[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002019152404636 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002019152404636[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002367340869506 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002367340869506[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003457092616591 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003457092616591[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004096864789310 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004096864789310[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663601372506 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663601372506[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003598344621032 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003598344621032[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004114474916957 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004114474916957[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004747634904154 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004747634904154[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741383384563 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741383384563[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002292445842647 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002292445842647[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837744295758 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837744295758[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002359273097597 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002359273097597[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957937100574 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957937100574[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002536523874349 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002536523874349[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002874379316362 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002874379316362[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002528501174717 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002528501174717[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003164789339443 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003164789339443[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002730900659115 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002730900659115[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519011878422 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519011878422[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421367374138 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421367374138[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003428809116361 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003428809116361[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058805183011 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058805183011[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004370589113057 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004370589113057[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482553388844 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482553388844[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108990969768 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108990969768[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003276257937184 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003276257937184[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003615620349652 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003615620349652[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002955357972035 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002955357972035[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585590908943 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585590908943[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937699849805 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937699849805[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002031285975004 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002031285975004[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002604378760401 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002604378760401[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187850085656 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187850085656[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003506247168916 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003506247168916[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170860832923 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170860832923[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003397427703700 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003397427703700[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043839224155 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043839224155[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003257423819233 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003257423819233[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786160545085 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786160545085[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003967367570926 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003967367570926[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003158979382061 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003158979382061[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781406872342 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781406872342[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898834427572 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898834427572[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542781262809 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542781262809[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874877165624 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874877165624[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086031801385 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086031801385[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176108312926 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002176108312926[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567597291265 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567597291265[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086677036998 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086677036998[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004295868967070 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004295868967070[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229107825886 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229107825886[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004854095544426 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004854095544426[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002495288002027 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002495288002027[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280651465556 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280651465556[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944539829421 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944539829421[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005766662264380 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005766662264380[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007008607496084 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007008607496084[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785086434514 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785086434514[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001989330941463 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001989330941463[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002515217183444 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002515217183444[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953840787217 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953840787217[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002196066961170 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002196066961170[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000885591525020 ×2 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000885591525020[0m ×4 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002035287683561 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002035287683561[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003093143352723 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003093143352723[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724364123692 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724364123692[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055318956125 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055318956125[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377305244571 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377305244571[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385046799240 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385046799240[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572643 ms (missed cycles : 4). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572643 ms (missed cycles : 4).[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562032833438 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562032833438[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002546889863036 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002546889863036[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361708961234 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361708961234[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004457202217358 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004457202217358[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463374717122 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463374717122[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961175021253 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961175021253[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003510313272276 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003510313272276[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002790987161809 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002790987161809[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003320250290207 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003320250290207[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003633757531292 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003633757531292[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002939493574215 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002939493574215[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471626107219 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471626107219[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052225433737 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052225433737[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003199395133038 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003199395133038[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603790901622 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003603790901622[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915630228280 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915630228280[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096604984364 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096604984364[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003551119865341 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003551119865341[0m ×2 + 16.55sWARNcontroller_managerOverrun might occur, Total time : 3472.226 us (Expected < 1666.667 us) --> Read time : 167.534 us, Update time : 316.597 us, Write time : 2988.095 us + 16.56sWARNros2_control_nodeOverrun might occur, Total time : 3472.226 us (Expected < 1666.667 us) --> Read time : 167.534 us, Update time : 316.597 us, Write time : 2988.095 us[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801846202641 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801846202641[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409199038272 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409199038272[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773782620878 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773782620878[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326604634370 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326604634370[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352693650014 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352693650014[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669485499376 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669485499376[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858981228685 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858981228685[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002800553470840 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002800553470840[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842884214623 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842884214623[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003971452543624 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003971452543624[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037127493966 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037127493966[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125721715309 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125721715309[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203299564464 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203299564464[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770541359480 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770541359480[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895392217730 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895392217730[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950175243769 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950175243769[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997596827058 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997596827058[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089932441577 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089932441577[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002616642680670 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002616642680670[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021082594407 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021082594407[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374819857760 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374819857760[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499571634208 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499571634208[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441152651573 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441152651573[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603267490431 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603267490431[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003483697239338 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003483697239338[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697191819743 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697191819743[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245366228633 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245366228633[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123130765267 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123130765267[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027919947076 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027919947076[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822909491085 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822909491085[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833674212328 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833674212328[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869656664271 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869656664271[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409198367469 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409198367469[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223575164466 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223575164466[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086214443119 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086214443119[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131930103564 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131930103564[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004127390064 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004127390064[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049699318150 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049699318150[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944241279223 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944241279223[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015776172812 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015776172812[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003544043472129 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003544043472129[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002641624046701 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002641624046701[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003617166703895 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003617166703895[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728639340337 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728639340337[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252484520167 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252484520167[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105877031241 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105877031241[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990434355882 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990434355882[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142803378587 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142803378587[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002230848849481 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002230848849481[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213697434691 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213697434691[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112852570664 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112852570664[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584279750518 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584279750518[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251018564706 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251018564706[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526537414028 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526537414028[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195929986452 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195929986452[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344387600525 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344387600525[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239598519576 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239598519576[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388624546921 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388624546921[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004328149437781 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004328149437781[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059107206794 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059107206794[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004138984995672 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004138984995672[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930390617899 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930390617899[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799084486140 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799084486140[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070510829344 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070510829344[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880051587154 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880051587154[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150261964400 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150261964400[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921007837749 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921007837749[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066876985196 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066876985196[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868746002482 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868746002482[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744578718095 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003744578718095[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010445536801 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010445536801[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003815463984719 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003815463984719[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093972600531 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093972600531[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028325662923 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028325662923[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838591660867 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838591660867[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491955797103 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491955797103[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112249582357 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112249582357[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878648593737 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878648593737[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003725541150759 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003725541150759[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625478837484 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625478837484[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004505830402719 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004505830402719[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964052631682 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964052631682[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412873544506 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412873544506[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335551209406 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335551209406[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474129743719 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474129743719[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467808336284 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467808336284[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490650089251 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490650089251[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969362755085 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969362755085[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003798574077584 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003798574077584[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683352813288 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683352813288[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146435046776 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146435046776[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795889837297 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795889837297[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005049858123804 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005049858123804[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005070840392322 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005070840392322[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394597503165 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394597503165[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975843207665 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975843207665[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438705617266 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438705617266[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993498785736 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993498785736[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004455347457304 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004455347457304[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003992423167586 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003992423167586[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242725200623 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242725200623[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866464110232 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866464110232[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003640892479887 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003640892479887[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495696791400 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495696791400[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292058120449 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292058120449[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715479820515 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715479820515[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088068611438 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088068611438[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537397926615 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537397926615[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028946032658 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028946032658[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716993381242 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716993381242[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004552688415642 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004552688415642[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004032309136606 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004032309136606[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480769051385 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480769051385[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969117196471 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969117196471[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019500983023 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019500983023[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429612272763 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429612272763[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874922280603 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874922280603[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851367 ms (missed cycles : 5). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851367 ms (missed cycles : 5).[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004681288795941 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004681288795941[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245959066199 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245959066199[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004996419208428 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004996419208428[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005033407185146 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005033407185146[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298740880802 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298740880802[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003808905815680 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003808905815680[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607382267950 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607382267950[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004001114381654 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004001114381654[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431670848176 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431670848176[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881899780097 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003881899780097[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540394396379 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540394396379[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004661575360245 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004661575360245[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003965650985302 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003965650985302[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566362323191 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566362323191[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343639999225 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343639999225[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003808105255485 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003808105255485[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582389735470 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582389735470[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945688784437 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945688784437[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550018085383 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550018085383[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004319188088817 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004319188088817[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773655353584 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773655353584[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536598144362 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536598144362[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897230010586 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897230010586[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004307938650728 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004307938650728[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003919718062203 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003919718062203[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626043206311 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626043206311[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924176448067 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924176448067[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004726186075198 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004726186075198[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952834366431 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952834366431[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680770282161 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680770282161[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933402388268 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933402388268[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331509424416 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331509424416[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724441971079 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724441971079[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585075976439 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585075976439[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004791637916103 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004791637916103[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966193813543 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966193813543[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004663520053189 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004663520053189[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871941937241 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871941937241[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585281067304 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585281067304[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833394130912 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833394130912[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548687091382 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548687091382[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237740786498 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237740786498[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003259421880850 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003259421880850[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938169700137 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938169700137[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004602675492198 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004602675492198[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277830441321 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277830441321[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005409637583714 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005409637583714[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341367705535 + 17.81sWARNcontroller_managerOverrun might occur, Total time : 3843.634 us (Expected < 1666.667 us) --> Read time : 168.434 us, Update time : 3223.080 us, Write time : 452.120 us + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341367705535[0m ×2 + 17.81sWARNros2_control_nodeOverrun might occur, Total time : 3843.634 us (Expected < 1666.667 us) --> Read time : 168.434 us, Update time : 3223.080 us, Write time : 452.120 us[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003640332607216 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003640332607216[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298315124382 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298315124382[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005523732073111 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005523732073111[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004374329282981 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004374329282981[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004726864366682 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004726864366682[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005083560487488 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005083560487488[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047972161342 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047972161342[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713783777452 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713783777452[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003806906165949 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003806906165949[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339860501909 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339860501909[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004619790095676 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004619790095676[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003736560315889 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003736560315889[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396371714677 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396371714677[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670162160862 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670162160862[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763769996030 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763769996030[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421036203723 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421036203723[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665050950776 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665050950776[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695031397311 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695031397311[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764079199110 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764079199110[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414137496474 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414137496474[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004632365619057 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004632365619057[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492016716533 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492016716533[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004065298069766 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004065298069766[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005236322368082 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005236322368082[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113918237410 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113918237410[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390549261715 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390549261715[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005021907712534 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005021907712534[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942210454393 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942210454393[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572853790192 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572853790192[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633003660218 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633003660218[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817363312691 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817363312691[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779103940308 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779103940308[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113160380104 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113160380104[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004741258017434 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004741258017434[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003370174678341 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003370174678341[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528662113781 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528662113781[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004623319461233 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004623319461233[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666068271787 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666068271787[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005004142663650 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005004142663650[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004888132055422 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004888132055422[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004791614018654 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004791614018654[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127038262352 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127038262352[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005142642602726 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005142642602726[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005305862922040 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005305862922040[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005358960908811 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005358960908811[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005113030684386 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005113030684386[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294076394449 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294076394449[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031699538720 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031699538720[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212402444517 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212402444517[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004949407909798 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004949407909798[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761918436627 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761918436627[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094655070709 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094655070709[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004840922741298 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004840922741298[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020631358546 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020631358546[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780433265216 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780433265216[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959813580598 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959813580598[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732280714351 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732280714351[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582729218900 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582729218900[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912959565289 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912959565289[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694888628679 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694888628679[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005024261649271 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005024261649271[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004757405489271 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004757405489271[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005086287887018 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005086287887018[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004786594953564 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004786594953564[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004926098675902 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004926098675902[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004734437486025 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004734437486025[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593448335198 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593448335198[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705959004374 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705959004374[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281926540897 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281926540897[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127508666650 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127508666650[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838629098096 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838629098096[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626835693878 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626835693878[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005724289125415 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005724289125415[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160667937272 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160667937272[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005753597965039 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005753597965039[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005138271821753 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005138271821753[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005729608577764 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005729608577764[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005089210379031 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005089210379031[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004662886523415 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004662886523415[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750285408329 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750285408329[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005069893862017 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005069893862017[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387313215678 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387313215678[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820027394895 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820027394895[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847938116359 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847938116359[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711356474366 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711356474366[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006291971063092 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006291971063092[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537398615615 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537398615615[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006664722951684 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006664722951684[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006833596226328 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006833596226328[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754102656763 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754102656763[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329237834993 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329237834993[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005368677960852 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005368677960852[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004727751962385 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004727751962385[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784723193668 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784723193668[0m ×2 + 18.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683000 ms (missed cycles : 2). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683000 ms (missed cycles : 2).[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978820913382 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978820913382[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006108017068493 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006108017068493[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005166268415019 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005166268415019[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551945682502 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551945682502[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595684486576 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595684486576[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820983590869 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820983590869[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005861059706590 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005861059706590[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004973454315274 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004973454315274[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006009670590708 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006009670590708[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005046161778390 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005046161778390[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043075857670 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043075857670[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054531817241 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054531817241[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006022706096312 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006022706096312[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025439848119 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025439848119[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043769799438 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043769799438[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014086534987 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014086534987[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006028462809984 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006028462809984[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004742082726958 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004742082726958[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814831166530 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814831166530[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006818690681151 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006818690681151[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527173139240 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527173139240[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006534564365661 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006534564365661[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005290209940266 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005290209940266[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006036027367541 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006036027367541[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006572478196782 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006572478196782[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273681022690 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273681022690[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005976676205879 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005976676205879[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410347665056 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410347665056[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006652380511397 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006652380511397[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006697613292469 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006697613292469[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005268524542040 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005268524542040[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005870236114216 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005870236114216[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006836687888008 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006836687888008[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005332599237051 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005332599237051[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006295008277763 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006295008277763[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006462991833757 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006462991833757[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006542020966022 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006542020966022[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006623670334350 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006623670334350[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006612477956901 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006612477956901[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006619456729715 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006619456729715[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344196309353 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344196309353[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004729164467768 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004729164467768[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006460046153008 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006460046153008[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006676106757290 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006676106757290[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008394520769421 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008394520769421[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007787143538056 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007787143538056[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007285032874533 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007285032874533[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007781800747956 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007781800747956[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007193716868784 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007193716868784[0m ×2 + 18.87sWARNcontroller_managerOverrun might occur, Total time : 2078.955 us (Expected < 1666.667 us) --> Read time : 102.942 us, Update time : 1646.976 us, Write time : 329.037 us + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006763586766662 + 18.87sWARNros2_control_nodeOverrun might occur, Total time : 2078.955 us (Expected < 1666.667 us) --> Read time : 102.942 us, Update time : 1646.976 us, Write time : 329.037 us[0m ×2 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006763586766662[0m ×2 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108726 ms (missed cycles : 4). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108726 ms (missed cycles : 4).[0m ×2 + 20.06sWARNcontroller_managerOverrun might occur, Total time : 1983.893 us (Expected < 1666.667 us) --> Read time : 431.079 us, Update time : 67.031 us, Write time : 1485.783 us + 20.07sWARNros2_control_nodeOverrun might occur, Total time : 1983.893 us (Expected < 1666.667 us) --> Read time : 431.079 us, Update time : 67.031 us, Write time : 1485.783 us[0m ×2 + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860182 ms (missed cycles : 4). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860182 ms (missed cycles : 4).[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142595134651 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142595134651[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000046844994724 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000046844994724[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010377658993 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010377658993[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026615894843 ×2 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026615894843[0m ×4 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003293422606122 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003293422606122[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002135698496276 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002135698496276[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161250455986 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161250455986[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000987574543760 ×2 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000987574543760[0m ×4 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000666002870654 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000666002870654[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000665921595628 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000665921595628[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002355799684867 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002355799684867[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003451605360692 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003451605360692[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814285137329 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814285137329[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002290055454453 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002290055454453[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021917737822558 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021917737822558[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012907234726814 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012907234726814[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040184214055017 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040184214055017[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023004965413111 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023004965413111[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023389286078315 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023389286078315[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011757678316782 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011757678316782[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012478606275116 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012478606275116[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844424232509 ×2 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844424232509[0m ×4 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000342416586053 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000342416586053[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021669179750950 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021669179750950[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032225087401387 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032225087401387[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017627852457159 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017627852457159[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008253893894793 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008253893894793[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002336521388234 ×2 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002336521388234[0m ×4 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000994723590351 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000994723590351[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002406162445991 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002406162445991[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026150692804342 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026150692804342[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014338725211129 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014338725211129[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014379896400734 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014379896400734[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006734935338604 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006734935338604[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707478089899 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707478089899[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995141056784 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995141056784[0m ×2 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004434678325332 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004434678325332[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000991863718744 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000991863718744[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027963321657472 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027963321657472[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020742849962148 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020742849962148[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024884134430610 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024884134430610[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016158110863639 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016158110863639[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016050737050245 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016050737050245[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007288750832903 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007288750832903[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001926384683177 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001926384683177[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001926411784879 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001926411784879[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004706156452741 ×2 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004706156452741[0m ×4 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000963554902036 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000963554902036[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001056151174603 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001056151174603[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001639401588161 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001639401588161[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001537371197577 + 21.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001537371197577[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000784639462607 + 21.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000784639462607[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001065664385416 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001065664385416[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059446719764 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059446719764[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002867876264007 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002867876264007[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604777545313 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604777545313[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587099541270 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587099541270[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000936044676630 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000936044676630[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000745105869633 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000745105869633[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000811005050360 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000811005050360[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121845591299 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121845591299[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121795294789 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121795294789[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000724364400862 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000724364400862[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001213406377903 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001213406377903[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008599964207 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008599964207[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000228041449352 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000228041449352[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000430601881410 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000430601881410[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000439303447485 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000439303447485[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873497247170 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000873497247170[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001568578083406 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001568578083406[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257178279585 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257178279585[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002081843187713 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002081843187713[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001105996773654 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001105996773654[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000473796600081 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000473796600081[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000440269075324 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000440269075324[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002844637469 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002844637469[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306886854756 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306886854756[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306930324377 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306930324377[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042263530125 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042263530125[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042437581398 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042437581398[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172579102415 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172579102415[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073076071284 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073076071284[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001042456851215 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001042456851215[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373216480658 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373216480658[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417575587612 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417575587612[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006350195482190 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006350195482190[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001815111688773 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001815111688773[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000665680001536 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000665680001536[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000898380714852 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000898380714852[0m ×2 + 21.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002122659219969 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002122659219969[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002284950229938 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002284950229938[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000487215581080 ×2 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000487215581080[0m ×4 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125709472316 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125709472316[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001301507310520 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001301507310520[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790865760783 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790865760783[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000808204765869 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000808204765869[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003259905780823 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003259905780823[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005081411992860 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005081411992860[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473961803805 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473961803805[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003087768483277 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003087768483277[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002460187080002 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002460187080002[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002927914039560 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002927914039560[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004201873407864 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004201873407864[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453938742182 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453938742182[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097855312473 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097855312473[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856162211180 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856162211180[0m ×2 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003142154123450 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003142154123450[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002921967298370 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002921967298370[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705321705882 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705321705882[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003507096926222 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003507096926222[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003050949246153 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003050949246153[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763060169266 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763060169266[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201706998708 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201706998708[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862601314943 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862601314943[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301958567641 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301958567641[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002912147668226 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002912147668226[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149879296320 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149879296320[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818205961342 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818205961342[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629513377395 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629513377395[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003070510799153 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003070510799153[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003095938407216 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003095938407216[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531202611949 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531202611949[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104747259216 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104747259216[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003340420788740 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003340420788740[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958520243201 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958520243201[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394126996083 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394126996083[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002981175688957 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002981175688957[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216807478995 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216807478995[0m ×2 + 21.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107772 ms (missed cycles : 3). + 21.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107772 ms (missed cycles : 3).[0m ×2 + 21.63sWARNcontroller_managerOverrun might occur, Total time : 3105.907 us (Expected < 1666.667 us) --> Read time : 165.773 us, Update time : 2591.407 us, Write time : 348.727 us + 21.63sWARNros2_control_nodeOverrun might occur, Total time : 3105.907 us (Expected < 1666.667 us) --> Read time : 165.773 us, Update time : 2591.407 us, Write time : 348.727 us[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866961713204 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866961713204[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015681891934 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015681891934[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002808943531530 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002808943531530[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002681549336204 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002681549336204[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484705822744 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484705822744[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003072256395722 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003072256395722[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002806886708648 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002806886708648[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003606678265340 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003606678265340[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003111745356351 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003111745356351[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344743067669 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344743067669[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936429173972 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936429173972[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690781804673 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690781804673[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003122698299422 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003122698299422[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002806688802154 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002806688802154[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237900852094 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237900852094[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873821539467 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873821539467[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304369981744 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304369981744[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002910360178603 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002910360178603[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003143046827583 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003143046827583[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811936514834 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811936514834[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003242004042456 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003242004042456[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869953459658 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869953459658[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651082600843 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651082600843[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081488361304 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081488361304[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002785261028281 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002785261028281[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002998113326082 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002998113326082[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002803853128324 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002803853128324[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590622765707 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590622765707[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003140107956576 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003140107956576[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848211401997 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848211401997[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028219417562 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028219417562[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003141483303136 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003141483303136[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003559363809003 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003559363809003[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396523548145 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396523548145[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431832781955 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431832781955[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003631247609012 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003631247609012[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855298214436 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855298214436[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235264862150 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235264862150[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650962921150 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650962921150[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003091002115950 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003091002115950[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003507643010598 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003507643010598[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995342182707 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995342182707[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412760248393 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412760248393[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936021644474 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936021644474[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003354027322057 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902296511926 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003354027322057[0m ×2 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902296511926[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964017159018 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964017159018[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991119971812 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991119971812[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342571576254 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342571576254[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754430324667 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754430324667[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171855823529 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171855823529[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003584923998860 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003584923998860[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054400816231 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054400816231[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468187795103 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468187795103[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002977277686305 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002977277686305[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003391487812622 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003391487812622[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002929475038783 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002929475038783[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003343887998633 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003343887998633[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902000044358 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902000044358[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646479476509 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646479476509[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415066261560 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415066261560[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137801906108 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137801906108[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893202135790 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893202135790[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003283288825282 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003283288825282[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691998808653 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691998808653[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003136811243501 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003136811243501[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003546175976400 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003546175976400[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034823164635 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034823164635[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444487167985 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444487167985[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002966981195850 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002966981195850[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003376742843677 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003376742843677[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924280858621 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924280858621[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002660218674718 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002660218674718[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752599874424 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752599874424[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003163942624432 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003163942624432[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568416147393 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568416147393[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041415772791 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041415772791[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446932516700 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446932516700[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963984765868 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963984765868[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002680254552375 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002680254552375[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750714749097 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750714749097[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966179344508 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966179344508[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003287555638020 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003287555638020[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002867392360302 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002867392360302[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612955956584 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612955956584[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063444546812 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063444546812[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003465933841417 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003465933841417[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002969923933482 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002969923933482[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884105680799 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884105680799[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917935990964 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917935990964[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234249473959 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234249473959[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818759425091 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818759425091[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787936581039 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787936581039[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000438286605 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000438286605[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003287768215639 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003287768215639[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683689221499 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683689221499[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003084560062509 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003084560062509[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482078272331 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482078272331[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962198460554 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962198460554[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698366227841 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698366227841[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003091670416224 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003091670416224[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003489141002492 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003489141002492[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963652669186 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963652669186[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698969561379 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698969561379[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003088821068426 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003088821068426[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002969434162557 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002969434162557[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899699052012 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899699052012[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003265201433201 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003265201433201[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984846158790 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984846158790[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003293693030580 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003293693030580[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013935306095 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013935306095[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288133825180 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288133825180[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008445041867 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008445041867[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069214401720 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069214401720[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297814501050 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297814501050[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685072255408 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685072255408[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058564258859 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058564258859[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858534754482 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858534754482[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970417609704 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970417609704[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235196073009 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235196073009[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003621198302345 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003621198302345[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021676433541 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021676433541[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738429350286 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738429350286[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130918170397 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130918170397[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997629251418 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997629251418[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897909778416 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897909778416[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594531594488 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594531594488[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690452033043 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690452033043[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390558103055 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390558103055[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003520679262212 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003520679262212[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051694928448 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051694928448[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873112249392 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873112249392[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337229658518 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337229658518[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537994726457 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537994726457[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595527878984 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595527878984[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288182025476 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288182025476[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414450347157 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414450347157[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004278306954 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004278306954[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204840848678 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204840848678[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346976305839 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346976305839[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004039090785600 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004039090785600[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003238967252611 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003238967252611[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891718451956 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891718451956[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004091591982256 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004091591982256[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273757909258 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273757909258[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908652389073 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908652389073[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004107649491178 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004107649491178[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285746575421 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285746575421[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973252114205 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973252114205[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200982192048 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200982192048[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890740111165 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890740111165[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150015091497 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150015091497[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840464318982 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840464318982[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003119944289952 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003119944289952[0m ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.355484 ms (missed cycles : 11). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.355484 ms (missed cycles : 11).[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810214804708 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810214804708[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527839944781 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527839944781[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003218331877549 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003218331877549[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995147100574 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995147100574[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232907836182 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232907836182[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061032942305 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061032942305[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004731239419095 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004731239419095[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692239644901 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692239644901[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004364482724954 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004364482724954[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003434359285151 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003434359285151[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004107970512749 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004107970512749[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003262764260999 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003262764260999[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937372895886 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937372895886[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003155033451088 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003155033451088[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830266692863 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830266692863[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053398124234 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053398124234[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770098713066 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770098713066[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428395881713 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428395881713[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568350446443 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568350446443[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624279688185 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624279688185[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590886816200 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590886816200[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251698680520 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251698680520[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176046978431 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176046978431[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003809904645094 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003809904645094[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175645837595 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175645837595[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004374144272007 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004374144272007[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468725546792 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468725546792[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498525479863 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498525479863[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478086548425 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478086548425[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129631257504 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129631257504[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246552519577 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246552519577[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003901754145608 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003901754145608[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169536510884 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169536510884[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004271132217912 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004271132217912[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003323987227203 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003323987227203[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974276917831 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974276917831[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198723250207 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198723250207[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273186584353 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273186584353[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003920996423856 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003920996423856[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160541726200 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160541726200[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214989083530 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214989083530[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281531274146 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281531274146[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926450726985 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926450726985[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157857346413 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157857346413[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212042734264 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212042734264[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277574435654 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277574435654[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003919519897537 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003919519897537[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147192798623 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147192798623[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002469901009320 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002469901009320[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003671745862468 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003671745862468[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148041116240 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148041116240[0m ×2 + 23.04sWARNcontroller_managerOverrun might occur, Total time : 1741.977 us (Expected < 1666.667 us) --> Read time : 133.722 us, Update time : 1306.128 us, Write time : 302.127 us + 23.05sWARNros2_control_nodeOverrun might occur, Total time : 1741.977 us (Expected < 1666.667 us) --> Read time : 133.722 us, Update time : 1306.128 us, Write time : 302.127 us[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226574436195 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226574436195[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837956203519 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837956203519[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176513648251 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176513648251[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347942538373 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347942538373[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005496030642964 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005496030642964[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109924219369 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109924219369[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735202329197 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735202329197[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604235554652 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604235554652[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491252292854 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491252292854[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588804594448 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588804594448[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464934884123 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464934884123[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493422971244 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493422971244[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396939552005 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396939552005[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405262682833 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405262682833[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338350918199 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338350918199[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346653896225 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346653896225[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002405534898653 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002405534898653[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003324228440591 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003324228440591[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847150473433 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003847150473433[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966348085523 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966348085523[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797178109959 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797178109959[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396799388408 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396799388408[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995446816640 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004995446816640[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005170224067278 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005170224067278[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802086503046 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802086503046[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004853138167090 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004853138167090[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004575011594241 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004575011594241[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669149005324 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669149005324[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445987740457 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445987740457[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496813168349 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496813168349[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333769284495 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333769284495[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004233685363792 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004233685363792[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175441084198 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175441084198[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143389208528 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143389208528[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460813303107 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460813303107[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315560293828 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315560293828[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408124748712 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408124748712[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004277311974318 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004277311974318[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447819905561 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447819905561[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004295314456340 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004295314456340[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387257014507 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387257014507[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252682854961 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252682854961[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820735062784 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820735062784[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004905710667705 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004905710667705[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480779670118 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480779670118[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004785193913814 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004785193913814[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004475903088980 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004475903088980[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288965358674 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288965358674[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179791207739 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179791207739[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489828978562 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489828978562[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316652790937 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316652790937[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210660528967 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210660528967[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004782516676417 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004782516676417[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483594634750 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483594634750[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650182418264 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650182418264[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386027229073 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386027229073[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215089961134 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215089961134[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108404188453 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108404188453[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004044486308075 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004044486308075[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606016901733 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606016901733[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342371513994 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342371513994[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004644507659263 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004644507659263[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352892105912 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352892105912[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653831872453 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653831872453[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345838021986 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345838021986[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150591222277 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150591222277[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004702940434053 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004702940434053[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361558213253 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361558213253[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004658859005648 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004658859005648[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324083229164 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324083229164[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620275522500 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620275522500[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291775391675 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291775391675[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088102407963 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088102407963[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581917096493 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581917096493[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004852176946536 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004852176946536[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359631966294 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359631966294[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127614708525 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127614708525[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112940593968 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112940593968[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590052927742 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590052927742[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004877442998427 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004877442998427[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004422101599913 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004422101599913[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952370173808 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952370173808[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004454791046260 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004454791046260[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152677528787 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152677528787[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975174324810 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975174324810[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004956293157517 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004956293157517[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460240701523 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460240701523[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745451223525 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745451223525[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316547362965 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316547362965[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841788650861 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841788650861[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362304642397 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362304642397[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004062812436634 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004062812436634[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449985995140 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449985995140[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479243551156 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479243551156[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778508678324 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778508678324[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005289120062014 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005289120062014[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004619060605531 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004619060605531[0m ×2 + 23.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887007 ms (missed cycles : 3). + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127579338089 + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887007 ms (missed cycles : 3).[0m ×2 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005127579338089[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004706153191239 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004706153191239[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342976360061 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342976360061[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826000702263 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826000702263[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313120411561 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313120411561[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232990771145 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232990771145[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577892987394 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577892987394[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155330348913 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155330348913[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074599342595 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074599342595[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440419043344 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440419043344[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934494644173 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934494644173[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334221041189 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334221041189[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958295437386 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958295437386[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241651755576 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241651755576[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492240978565 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492240978565[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004599922006354 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004599922006354[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005079934761073 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005079934761073[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375674086028 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375674086028[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945622350186 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945622350186[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835421323146 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835421323146[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004225540957437 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004225540957437[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109154138428 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109154138428[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381828803858 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381828803858[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857118174993 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857118174993[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215600344291 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215600344291[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221141180300 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221141180300[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054142518182 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054142518182[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005516702723979 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005516702723979[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004662097025030 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004662097025030[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005517880728304 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005517880728304[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620159366449 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620159366449[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080733230120 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080733230120[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321186391042 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321186391042[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005169029958905 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005169029958905[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355773776589 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355773776589[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004811781595182 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004811781595182[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125530935689 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125530935689[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964993570891 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964993570891[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337556101405 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337556101405[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006431070076 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006431070076[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005450545578357 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005450545578357[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551025050263 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551025050263[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005375326778828 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005375326778828[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474520654724 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474520654724[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294816116657 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294816116657[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397719341335 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397719341335[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004097864025758 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004097864025758[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788955436843 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788955436843[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005453400923295 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005453400923295[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440615041597 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440615041597[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226565838818 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226565838818[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322675247949 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322675247949[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005110714797001 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005110714797001[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235702638019 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235702638019[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020072661573 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020072661573[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165124785611 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165124785611[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945108287508 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945108287508[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109722177992 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109722177992[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887988894305 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887988894305[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005369181330253 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005369181330253[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379135564472 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379135564472[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300571897442 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300571897442[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004971976523970 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004971976523970[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362843524789 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362843524789[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294276723432 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294276723432[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048404300970 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048404300970[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133817502166 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133817502166[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004889537160787 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004889537160787[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295924397766 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295924397766[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301119027860 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301119027860[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205923136743 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205923136743[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943598106215 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943598106215[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452203477129 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452203477129[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092439191753 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092439191753[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005464248932979 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005464248932979[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005681247735522 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005681247735522[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424930819754 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424930819754[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133133522154 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133133522154[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005442276884234 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005442276884234[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005584140556469 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005584140556469[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006256871659203 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006256871659203[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005962491163673 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005962491163673[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006159859521647 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006159859521647[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720566987119 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004720566987119[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408017325826 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408017325826[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376496789485 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376496789485[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005567811405505 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005567811405505[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273854725333 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273854725333[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950980738650 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950980738650[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005057967033218 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005057967033218[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005245403522790 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005245403522790[0m ×2 + 24.34sWARNcontroller_managerOverrun might occur, Total time : 3523.417 us (Expected < 1666.667 us) --> Read time : 75.492 us, Update time : 3166.369 us, Write time : 281.556 us + 24.34sWARNros2_control_nodeOverrun might occur, Total time : 3523.417 us (Expected < 1666.667 us) --> Read time : 75.492 us, Update time : 3166.369 us, Write time : 281.556 us[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139951604337 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139951604337[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805431820705 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805431820705[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190611092691 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190611092691[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651323853086 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651323853086[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004821690603254 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004821690603254[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006000023615987 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006000023615987[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005706407795107 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005706407795107[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005759636557355 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005759636557355[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005427242227083 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005427242227083[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005526269344510 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005526269344510[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005279875421922 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005279875421922[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005377207896935 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005377207896935[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143088107671 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143088107671[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321967815545 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321967815545[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005100520964548 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005100520964548[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277267351206 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277267351206[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005841594155093 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005841594155093[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812590415628 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812590415628[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173810237032 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173810237032[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212871776503 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212871776503[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374502684158 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374502684158[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004971081407245 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004971081407245[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291964511202 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291964511202[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005049117116963 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005049117116963[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005215057371435 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005215057371435[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910148983114 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910148983114[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005219052085287 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005219052085287[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932158111119 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932158111119[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004706953049611 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004706953049611[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004574848796798 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004574848796798[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004479578712999 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004479578712999[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495794070448 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495794070448[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108966517849 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108966517849[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004770787757436 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004770787757436[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582433177236 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582433177236[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118724912234 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118724912234[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797066590905 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797066590905[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005326716695344 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005326716695344[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004899160302830 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004899160302830[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005424118721960 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005424118721960[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934409860502 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934409860502[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005215485984244 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005215485984244[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766140396694 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766140396694[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463022718121 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463022718121[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275594728150 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275594728150[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793721042500 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793721042500[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005865191940469 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005865191940469[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960172280712 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960172280712[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625845264150 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625845264150[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105107812535 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105107812535[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609970751385 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609970751385[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005096735984818 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005096735984818[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612659242456 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612659242456[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090283777119 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090283777119[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583309094599 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583309094599[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005057322246959 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005057322246959[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546596771410 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546596771410[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005414544042468 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005414544042468[0m ×2 + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501534 ms (missed cycles : 5). + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501534 ms (missed cycles : 5).[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004774172718969 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004774172718969[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812133879255 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812133879255[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056635154642 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056635154642[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005629187449244 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005629187449244[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139489657471 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139489657471[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385598311506 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385598311506[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005224541877952 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005224541877952[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004580698437285 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004580698437285[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387511105597 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387511105597[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636984381152 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636984381152[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005439518769903 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005439518769903[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004643550360720 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004643550360720[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005498279606826 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005498279606826[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482227024720 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482227024720[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005286579922846 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005286579922846[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544807792250 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544807792250[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004968022209743 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004968022209743[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302615334611 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302615334611[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077358474085 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077358474085[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366905553790 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366905553790[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074748744800 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074748744800[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224510918219 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224510918219[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992626012013 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992626012013[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005724431201334 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005724431201334[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006378031226326 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006378031226326[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084276715172 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084276715172[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004472065405152 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004472065405152[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568579165766 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568579165766[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408111867717 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408111867717[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006012886295091 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006012886295091[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754227602503 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005754227602503[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826456681874 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826456681874[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835077579450 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835077579450[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511485840999 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511485840999[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005186929483003 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005186929483003[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366821671468 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366821671468[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548989676112 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548989676112[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305540170893 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305540170893[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760143813524 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760143813524[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004832495995384 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004832495995384[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005456098278470 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005456098278470[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005375560788623 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005375560788623[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005209432053335 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005209432053335[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005305145930965 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005305145930965[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164892829696 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164892829696[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005258945484893 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005258945484893[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005085009822291 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005085009822291[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005178231385824 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005178231385824[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005009443265789 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005009443265789[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004867241476847 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004867241476847[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761928967064 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761928967064[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004674051660224 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004674051660224[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596185894484 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596185894484[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005157200950670 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005157200950670[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004867260433340 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004867260433340[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005167757625997 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005167757625997[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004840806976534 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004840806976534[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005138427173269 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005138427173269[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004785592724478 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004785592724478[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080046145507 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080046145507[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714283516943 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714283516943[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255588067573 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255588067573[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799054338146 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799054338146[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004951072118017 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004951072118017[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488393353810 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488393353810[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004926255139052 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004926255139052[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005916414397719 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005916414397719[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163734437154 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163734437154[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005452753159153 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005452753159153[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004834346861752 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004834346861752[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004426595991943 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004426595991943[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416045308526 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416045308526[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945181183270 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945181183270[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006092334326144 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006092334326144[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254789956421 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254789956421[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006225073025934 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006225073025934[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005282672950131 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005282672950131[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006156022877289 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006156022877289[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006238504031477 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006238504031477[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225041107362 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225041107362[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743783018221 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743783018221[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004873635860701 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004873635860701[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005828529898687 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005828529898687[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004903910692048 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004903910692048[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005854488668108 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005854488668108[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896608559249 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896608559249[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005842778599010 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005842778599010[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866648142818 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866648142818[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005808326272881 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005808326272881[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006296042783979 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006296042783979[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006339444527480 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006339444527480[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135746029539 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135746029539[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006067326184997 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006067326184997[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006387956679843 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006387956679843[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006400526485087 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006400526485087[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005116267247192 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005116267247192[0m ×2 + 25.38sWARNcontroller_managerOverrun might occur, Total time : 4011.818 us (Expected < 1666.667 us) --> Read time : 164.264 us, Update time : 108.652 us, Write time : 3738.902 us + 25.38sWARNros2_control_nodeOverrun might occur, Total time : 4011.818 us (Expected < 1666.667 us) --> Read time : 164.264 us, Update time : 108.652 us, Write time : 3738.902 us[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165314637058 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165314637058[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005215401753935 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005215401753935[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869480117056 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869480117056[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007539822928392 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007539822928392[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784618546168 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784618546168[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773328297633 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773328297633[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005414070650390 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005414070650390[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008559448427493 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008559448427493[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008698111796794 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008698111796794[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007948916895900 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007948916895900[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009552850996012 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009552850996012[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008305507976331 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008305507976331[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008769974572350 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008769974572350[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007654844792328 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007654844792328[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008115147980144 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008115147980144[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007134868562194 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007134868562194[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007977550529565 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007977550529565[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006969640746160 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006969640746160[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007803856648714 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007803856648714[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387632174434 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387632174434[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007839793768401 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007839793768401[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009333955346209 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009333955346209[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007860119031554 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007860119031554[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009107135835723 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009107135835723[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009533041983867 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009533041983867[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007734891314704 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007734891314704[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009173897333847 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009173897333847[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007379795421303 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007379795421303[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008799791340909 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008799791340909[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007044799938122 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007044799938122[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008445829943191 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008445829943191[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008926832631930 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008926832631930[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009144592285168 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009144592285168[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007108023950310 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007108023950310[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005566904447568 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005566904447568[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008034983580188 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008034983580188[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008530066663258 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008530066663258[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010941154664796 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010941154664796[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010168953590379 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010168953590379[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010541796248852 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010541796248852[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009714672041044 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009714672041044[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010390811594942 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010390811594942[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009444952458287 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009444952458287[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010107654414557 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010107654414557[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009115657066478 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009115657066478[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008382935676861 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008382935676861[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007851040933287 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007851040933287[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007467714885165 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007467714885165[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011349213492853 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011349213492853[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009511439682175 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009511439682175[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011542400361732 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011542400361732[0m ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227057 ms (missed cycles : 3). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227057 ms (missed cycles : 3).[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009432539435511 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009432539435511[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007983913009532 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007983913009532[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011564187098302 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011564187098302[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009165929616872 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009165929616872[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007555694147726 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007555694147726[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010944708002291 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010944708002291[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008546060555623 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008546060555623[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011817069910742 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011817069910742[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008918926028847 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008918926028847[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012072449408083 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012072449408083[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982823079773 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982823079773[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008009042542731 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008009042542731[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006379629128118 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006379629128118[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005375818587524 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005375818587524[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004801506975040 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004801506975040[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007611169749111 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007611169749111[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006180246292555 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006180246292555[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008893041804756 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008893041804756[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006880727896853 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006880727896853[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009497991503996 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009497991503996[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007124329655331 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007124329655331[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009648092674046 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009648092674046[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007078005232494 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007078005232494[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009510992622486 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009510992622486[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006863064325184 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006863064325184[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009208033361867 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009208033361867[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001797399584902 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001797399584902[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002326550442117 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002326550442117[0m ×2 + 26.48sWARNcontroller_managerOverrun might occur, Total time : 3616.439 us (Expected < 1666.667 us) --> Read time : 101.042 us, Update time : 3145.489 us, Write time : 369.908 us + 26.48sWARNros2_control_nodeOverrun might occur, Total time : 3616.439 us (Expected < 1666.667 us) --> Read time : 101.042 us, Update time : 3145.489 us, Write time : 369.908 us[0m ×2 + 26.49sERRORobjective_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. ×6 + 26.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.442727 ms (missed cycles : 8). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.442727 ms (missed cycles : 8).[0m ×2 + 27.68sWARNcontroller_managerOverrun might occur, Total time : 1861.720 us (Expected < 1666.667 us) --> Read time : 145.313 us, Update time : 1409.091 us, Write time : 307.316 us + 27.68sWARNros2_control_nodeOverrun might occur, Total time : 1861.720 us (Expected < 1666.667 us) --> Read time : 145.313 us, Update time : 1409.091 us, Write time : 307.316 us[0m ×2 + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154369 ms (missed cycles : 2). + 27.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154369 ms (missed cycles : 2).[0m ×2 + 28.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.061150649350562 + 28.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.061150649350562[0m ×2 + 28.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.054517615883145 ×2 + 28.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.054517615883145[0m ×4 + 28.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013482028394598 + 28.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013482028394598[0m ×2 + 28.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.275213840114057 ×2 + 28.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.275213840114057[0m ×4 + 28.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.612368449691813 ×2 + 28.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.612368449691813[0m ×4 + 28.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.027307891957417 ×2 + 28.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.027307891957417[0m ×4 + 28.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.366297585417939 + 28.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.366297585417939[0m ×2 + 28.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.730502049397593 + 28.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.730502049397593[0m ×2 + 28.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.243587576420985 + 28.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.243587576420985[0m ×2 + 28.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.826269524229403 ×2 + 28.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.826269524229403[0m ×4 + 28.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.323995627353394 + 28.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.323995627353394[0m ×2 + 28.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.513966973435380 + 28.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.513966973435380[0m ×2 + 28.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.046890777789848 ×2 + 28.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.046890777789848[0m ×4 + 28.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.862166425010921 + 28.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.862166425010921[0m ×2 + 28.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.309714614570483 + 28.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.309714614570483[0m ×2 + 28.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.309503651426185 + 28.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.309503651426185[0m ×2 + 28.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021908953860837 ×2 + 28.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021908953860837[0m ×4 + 28.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.245936643290856 ×2 + 28.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.245936643290856[0m ×4 + 28.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.357214173966232 ×2 + 28.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.357214173966232[0m ×4 + 28.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.528919465780809 + 28.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.528919465780809[0m ×2 + 28.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.501067907682211 + 28.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.501067907682211[0m ×2 + 28.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.459563528386608 ×2 + 28.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.459563528386608[0m ×4 + 28.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.399709121659503 + 28.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.399709121659503[0m ×2 + 28.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.994882960319796 ×2 + 28.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.994882960319796[0m ×4 + 28.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.880384672344189 + 28.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.880384672344189[0m ×2 + 28.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.123426154677412 ×2 + 28.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.123426154677412[0m ×4 + 28.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.791335501996439 + 28.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.791335501996439[0m ×2 + 28.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.266390820325908 ×2 + 28.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.266390820325908[0m ×4 + 28.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.679476122615391 + 28.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.679476122615391[0m ×2 + 28.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.810332899027919 + 28.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.810332899027919[0m ×2 + 28.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.931141186612777 ×2 + 28.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.931141186612777[0m ×4 + 28.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.955768871254893 + 28.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.955768871254893[0m ×2 + 28.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.145839730527818 ×2 + 28.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.145839730527818[0m ×4 + 28.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.571556811607358 + 28.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.571556811607358[0m ×2 + 28.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.061830444096515 ×2 + 28.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.061830444096515[0m ×4 + 28.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.677813775506422 ×2 + 28.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.677813775506422[0m ×4 + 28.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.382115323941854 ×2 + 28.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.382115323941854[0m ×4 + 28.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.073952685571367 ×2 + 28.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.073952685571367[0m ×4 + 28.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.066151680166378 ×2 + 28.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.066151680166378[0m ×4 + 28.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.307069389886625 ×2 + 28.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.307069389886625[0m ×4 + 28.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.479957538931899 ×2 + 28.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.479957538931899[0m ×4 + 28.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.584470080227973 ×2 + 28.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.584470080227973[0m ×4 + 28.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.666208930148290 ×2 + 28.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.666208930148290[0m ×4 + 28.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.604576482391906 ×2 + 28.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.604576482391906[0m ×4 + 28.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.268559492212530 ×2 + 28.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.268559492212530[0m ×4 + 28.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.807162904433573 + 28.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.807162904433573[0m ×2 + 28.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.384480293014053 ×2 + 28.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.384480293014053[0m ×4 + 28.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.678682409947945 ×2 + 28.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.678682409947945[0m ×4 + 28.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023854118528501 + 28.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023854118528501[0m ×2 + 28.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.117724408261733 ×2 + 28.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.117724408261733[0m ×4 + 28.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.091131548580984 ×2 + 28.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.091131548580984[0m ×4 + 28.81sWARNcontroller_managerOverrun might occur, Total time : 8794.561 us (Expected < 1666.667 us) --> Read time : 139.943 us, Update time : 8185.038 us, Write time : 469.580 us + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.011393 ms (missed cycles : 6). + 28.81sWARNros2_control_nodeOverrun might occur, Total time : 8794.561 us (Expected < 1666.667 us) --> Read time : 139.943 us, Update time : 8185.038 us, Write time : 469.580 us[0m ×2 + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.011393 ms (missed cycles : 6).[0m ×2 + 28.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 77.710525688248481 + 28.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 77.710525688248481[0m ×2 + 28.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 197.342064143529484 + 28.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 197.342064143529484[0m ×2 + 28.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15395.684111658873007 ×411 + 28.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15395.684111658873007[0m ×822 + 28.87sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 3. The simulation is unstable. Time = 0.7400. ×26774 + 28.87sINFOobjective_server_node ×26994 + 28.87sINFOobjective_server_node[0;mRollout divergence at step ×2 + 28.88sINFOobjective_server_nodeRollout divergence at step ×26992 + 28.88sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 2. The simulation is unstable. Time = 0.7400. ×54 + 28.89sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.7400. ×60 + 28.92sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.7500. ×106 + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903972 ms (missed cycles : 2). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903972 ms (missed cycles : 2).[0m ×2 + 30.11sWARNcontroller_managerOverrun might occur, Total time : 2899.323 us (Expected < 1666.667 us) --> Read time : 117.682 us, Update time : 2498.215 us, Write time : 283.426 us + 30.23sWARNros2_control_nodeOverrun might occur, Total time : 2899.323 us (Expected < 1666.667 us) --> Read time : 117.682 us, Update time : 2498.215 us, Write time : 283.426 us[0m ×2 + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903525 ms (missed cycles : 2). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903525 ms (missed cycles : 2).[0m ×2 + 31.29sWARNcontroller_managerOverrun might occur, Total time : 4703.623 us (Expected < 1666.667 us) --> Read time : 149.173 us, Update time : 4144.791 us, Write time : 409.659 us + 31.53sWARNros2_control_nodeOverrun might occur, Total time : 4703.623 us (Expected < 1666.667 us) --> Read time : 149.173 us, Update time : 4144.791 us, Write time : 409.659 us[0m ×2 + 31.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284577 ms (missed cycles : 2). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284577 ms (missed cycles : 2).[0m ×2 + 32.32sWARNcontroller_managerOverrun might occur, Total time : 3219.781 us (Expected < 1666.667 us) --> Read time : 160.314 us, Update time : 2682.228 us, Write time : 377.239 us + 32.66sWARNros2_control_nodeOverrun might occur, Total time : 3219.781 us (Expected < 1666.667 us) --> Read time : 160.314 us, Update time : 2682.228 us, Write time : 377.239 us[0m ×2 + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951138 ms (missed cycles : 2). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951138 ms (missed cycles : 2).[0m ×2 + 33.38sWARNcontroller_managerOverrun might occur, Total time : 3491.406 us (Expected < 1666.667 us) --> Read time : 87.762 us, Update time : 3037.686 us, Write time : 365.958 us + 33.72sWARNros2_control_nodeOverrun might occur, Total time : 3491.406 us (Expected < 1666.667 us) --> Read time : 87.762 us, Update time : 3037.686 us, Write time : 365.958 us[0m ×2 + 33.82sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.28% of iterations over budget over 3:10.003 of wall time (166/58743). Below 1% is expected on a non-realtime system.[0m ×2 + 33.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.429224 ms (missed cycles : 8). + 33.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.429224 ms (missed cycles : 8).[0m ×2 + 34.10sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780780378.67682362 seconds ×3 + 34.69sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780780379.27366924 seconds. ×3 + 34.76sINFOobjective_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 + 34.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 34.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 34.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 34.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 34.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 34.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 34.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 34.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 34.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 34.83sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 34.84sINFOros2_control_node[2026-06-06 21:12:59.416] [info] Received new action goal ×2 + 34.84sINFOros2_control_node[2026-06-06 21:12:59.416] [info] Accepted new action goal ×2 + 34.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133183 ms (missed cycles : 5). + 34.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133183 ms (missed cycles : 5).[0m ×2 + 35.42sWARNcontroller_managerOverrun might occur, Total time : 2805.501 us (Expected < 1666.667 us) --> Read time : 111.152 us, Update time : 2414.783 us, Write time : 279.566 us + 35.42sWARNros2_control_nodeOverrun might occur, Total time : 2805.501 us (Expected < 1666.667 us) --> Read time : 111.152 us, Update time : 2414.783 us, Write time : 279.566 us[0m ×2 + 36.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143161 ms (missed cycles : 2). + 36.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143161 ms (missed cycles : 2).[0m ×2 + 36.70sWARNcontroller_managerOverrun might occur, Total time : 4297.954 us (Expected < 1666.667 us) --> Read time : 157.064 us, Update time : 3784.832 us, Write time : 356.058 us + 36.70sWARNros2_control_nodeOverrun might occur, Total time : 4297.954 us (Expected < 1666.667 us) --> Read time : 157.064 us, Update time : 3784.832 us, Write time : 356.058 us[0m ×2 + 37.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000235157420602 + 37.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000235157420602[0m ×2 + 37.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132116390573 + 37.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132116390573[0m ×2 + 37.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395546408921 + 37.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395546408921[0m ×2 + 37.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094819268488 + 37.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094819268488[0m ×2 + 37.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000531702687451 + 37.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000531702687451[0m ×2 + 37.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293523870536 + 37.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293523870536[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000758578840658 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000758578840658[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945559298854 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945559298854[0m ×2 + 37.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001135317663524 + 37.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001135317663524[0m ×2 + 37.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001230883546631 + 37.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001230883546631[0m ×2 + 37.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000656214154340 + 37.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000656214154340[0m ×2 + 37.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000233270452563 ×2 + 37.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000233270452563[0m ×4 + 37.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000620201297956 + 37.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000620201297956[0m ×2 + 37.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000448306905820 + 37.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000448306905820[0m ×2 + 37.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000769459499485 + 37.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000769459499485[0m ×2 + 37.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000809188784690 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000809188784690[0m ×2 + 37.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000341717561123 ×2 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000341717561123[0m ×4 + 37.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000445882793085 + 37.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000445882793085[0m ×2 + 37.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550507206400 + 37.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550507206400[0m ×2 + 37.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483533215071 + 37.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483533215071[0m ×2 + 37.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167031737845 + 37.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167031737845[0m ×2 + 37.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055525 ms (missed cycles : 5). + 37.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055525 ms (missed cycles : 5).[0m ×2 + 37.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135589610673 + 37.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135589610673[0m ×2 + 37.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136581496829 + 37.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136581496829[0m ×2 + 37.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010486573559 ×2 + 37.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010486573559[0m ×4 + 37.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093639023559 + 37.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093639023559[0m ×2 + 37.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000240230660924 + 37.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000240230660924[0m ×2 + 37.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000432548879180 + 37.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000432548879180[0m ×2 + 37.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000781043531588 + 37.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000781043531588[0m ×2 + 37.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001102132648577 + 37.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001102132648577[0m ×2 + 37.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000635983265789 + 37.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000635983265789[0m ×2 + 37.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000833855355919 + 37.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000833855355919[0m ×2 + 37.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000491140478430 + 37.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000491140478430[0m ×2 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000571144547496 + 37.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000571144547496[0m ×2 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000900620214446 + 37.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000900620214446[0m ×2 + 37.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001099603550930 + 37.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001099603550930[0m ×2 + 37.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001208491396911 + 37.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001208491396911[0m ×2 + 37.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001407726833700 + 37.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001407726833700[0m ×2 + 37.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369445343600 + 37.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369445343600[0m ×2 + 37.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001321140669357 + 37.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001321140669357[0m ×2 + 37.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691041420951 + 37.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691041420951[0m ×2 + 37.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001489609908273 + 37.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001489609908273[0m ×2 + 37.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690465960983 + 37.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690465960983[0m ×2 + 37.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458472194232 + 37.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458472194232[0m ×2 + 37.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490422721148 + 37.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490422721148[0m ×2 + 37.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000999637839790 + 37.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000999637839790[0m ×2 + 37.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000621529332302 + 37.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000621529332302[0m ×2 + 37.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000822213090172 + 37.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000822213090172[0m ×2 + 37.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000969293700037 + 37.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000969293700037[0m ×2 + 37.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001346686401588 + 37.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001346686401588[0m ×2 + 37.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001291667693268 + 37.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001291667693268[0m ×2 + 37.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351706464258 + 37.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351706464258[0m ×2 + 37.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001281015315672 + 37.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001281015315672[0m ×2 + 37.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313612732007 + 37.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313612732007[0m ×2 + 37.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001247500858344 + 37.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001247500858344[0m ×2 + 37.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257087665173 + 37.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257087665173[0m ×2 + 37.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209150810215 + 37.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209150810215[0m ×2 + 37.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179749626500 + 37.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179749626500[0m ×2 + 37.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161942504920 + 37.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161942504920[0m ×2 + 37.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179799309733 + 37.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179799309733[0m ×2 + 37.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001165838022451 + 37.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001165838022451[0m ×2 + 37.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161223772771 + 37.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161223772771[0m ×2 + 37.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179189425886 + 37.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179189425886[0m ×2 + 37.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001174327903948 + 37.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001174327903948[0m ×2 + 37.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001192346163608 + 37.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001192346163608[0m ×2 + 37.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001187117876824 + 37.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001187117876824[0m ×2 + 37.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000529806911038 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000529806911038[0m ×2 + 37.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000864560439770 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000864560439770[0m ×2 + 37.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257368692217 + 37.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257368692217[0m ×2 + 37.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315360112046 + 37.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315360112046[0m ×2 + 37.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709183059011 + 37.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709183059011[0m ×2 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573287163879 + 37.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573287163879[0m ×2 + 37.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001570197304796 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001570197304796[0m ×2 + 37.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001468098889812 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001468098889812[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001502254870343 + 37.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001502254870343[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413732948479 + 37.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413732948479[0m ×2 + 37.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352837940185 + 37.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352837940185[0m ×2 + 37.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001416308936287 + 37.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001416308936287[0m ×2 + 37.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352035844109 + 37.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352035844109[0m ×2 + 37.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001370677348282 + 37.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001370677348282[0m ×2 + 37.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001323519326922 + 37.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001323519326922[0m ×2 + 37.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001296725393752 + 37.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001296725393752[0m ×2 + 37.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001360728481851 + 37.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001360728481851[0m ×2 + 37.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001322833114412 + 37.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001322833114412[0m ×2 + 37.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001341630618882 + 37.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001341630618882[0m ×2 + 37.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313960803711 + 37.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313960803711[0m ×2 + 37.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001348791300147 + 37.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001348791300147[0m ×2 + 37.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494236963365 + 37.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494236963365[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529243088428 + 37.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529243088428[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001463836495787 + 37.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001463836495787[0m ×2 + 37.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498936490828 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498936490828[0m ×2 + 37.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438219932428 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438219932428[0m ×2 + 37.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001397384286428 + 37.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001397384286428[0m ×2 + 37.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001462584826462 + 37.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001462584826462[0m ×2 + 37.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001411648752394 + 37.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001411648752394[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001447027160153 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001447027160153[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001401959858842 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001401959858842[0m ×2 + 37.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467513967538 + 37.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467513967538[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 30.4s | 171 warnings · 3252 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×508 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×508 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1016 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1016 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694190 ms (missed cycles : 7). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694190 ms (missed cycles : 7).[0m ×2 + 1.30sWARNcontroller_managerOverrun might occur, Total time : 1907.281 us (Expected < 1666.667 us) --> Read time : 202.114 us, Update time : 1379.670 us, Write time : 325.497 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 1907.281 us (Expected < 1666.667 us) --> Read time : 202.114 us, Update time : 1379.670 us, Write time : 325.497 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764949 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764949 ms (missed cycles : 3).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627958 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627958 ms (missed cycles : 4).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 10387.846 us (Expected < 1666.667 us) --> Read time : 171.234 us, Update time : 9769.852 us, Write time : 446.760 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 10387.846 us (Expected < 1666.667 us) --> Read time : 171.234 us, Update time : 9769.852 us, Write time : 446.760 us[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780780431.19754934 seconds ×3 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOros2_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 5.650470 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650470 ms (missed cycles : 4).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sWARNcontroller_managerOverrun might occur, Total time : 6490.340 us (Expected < 1666.667 us) --> Read time : 505.731 us, Update time : 5508.969 us, Write time : 475.640 us + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 6490.340 us (Expected < 1666.667 us) --> Read time : 505.731 us, Update time : 5508.969 us, Write time : 475.640 us[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780780431.81087303 seconds. ×3 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.36sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.36sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326773 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326773 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_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 + 4.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOcontroller_managerSuccessfully switched controllers! + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.07sINFOobjective_server_nodeFound path in 6 iterations (0.00448954 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 5.13sINFOros2_control_node[2026-06-06 21:13:52.985] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-06-06 21:13:52.985] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856739 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856739 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun might occur, Total time : 4759.723 us (Expected < 1666.667 us) --> Read time : 4424.796 us, Update time : 55.591 us, Write time : 279.336 us + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981259 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun might occur, Total time : 4759.723 us (Expected < 1666.667 us) --> Read time : 4424.796 us, Update time : 55.591 us, Write time : 279.336 us[0m ×2 + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981259 ms (missed cycles : 3).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443332 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443332 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun might occur, Total time : 1703.728 us (Expected < 1666.667 us) --> Read time : 145.163 us, Update time : 1193.077 us, Write time : 365.488 us + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086641 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun might occur, Total time : 1703.728 us (Expected < 1666.667 us) --> Read time : 145.163 us, Update time : 1193.077 us, Write time : 365.488 us[0m ×2 + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086641 ms (missed cycles : 2).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538195 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538195 ms (missed cycles : 3).[0m ×2 + 10.02sWARNcontroller_managerOverrun might occur, Total time : 1988.363 us (Expected < 1666.667 us) --> Read time : 98.092 us, Update time : 1623.255 us, Write time : 267.016 us + 10.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.363 us (Expected < 1666.667 us) --> Read time : 98.092 us, Update time : 1623.255 us, Write time : 267.016 us[0m ×2 + 10.20sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.33% of iterations over budget over 4:10.003 of wall time (257/77276). Below 1% is expected on a non-realtime system.[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328811 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328811 ms (missed cycles : 2).[0m ×2 + 11.26sWARNcontroller_managerOverrun might occur, Total time : 1811.339 us (Expected < 1666.667 us) --> Read time : 381.598 us, Update time : 282.636 us, Write time : 1147.105 us + 11.26sWARNros2_control_nodeOverrun might occur, Total time : 1811.339 us (Expected < 1666.667 us) --> Read time : 381.598 us, Update time : 282.636 us, Write time : 1147.105 us[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877874 ms (missed cycles : 3). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877874 ms (missed cycles : 3).[0m ×2 + 12.49sWARNcontroller_managerOverrun might occur, Total time : 6977.302 us (Expected < 1666.667 us) --> Read time : 113.202 us, Update time : 6492.112 us, Write time : 371.988 us + 12.49sWARNros2_control_nodeOverrun might occur, Total time : 6977.302 us (Expected < 1666.667 us) --> Read time : 113.202 us, Update time : 6492.112 us, Write time : 371.988 us[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453826 ms (missed cycles : 4). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453826 ms (missed cycles : 4).[0m ×2 + 13.61sINFOobjective_server_node[0;m[0;93m2026-06-06 21:14:01.471507514 [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 + 13.61sINFOobjective_server_node[0;93m2026-06-06 21:14:01.471537865 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.67sWARNcontroller_managerOverrun might occur, Total time : 1902.961 us (Expected < 1666.667 us) --> Read time : 182.264 us, Update time : 1393.280 us, Write time : 327.417 us + 13.67sWARNros2_control_nodeOverrun might occur, Total time : 1902.961 us (Expected < 1666.667 us) --> Read time : 182.264 us, Update time : 1393.280 us, Write time : 327.417 us[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217944 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217944 ms (missed cycles : 3).[0m ×2 + 14.08sINFOobjective_server_node[0;93m2026-06-06 21:14:01.938140003 [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 + 14.08sINFOobjective_server_node[0;93m2026-06-06 21:14:01.938167514 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.18sINFOobjective_server_node[0;93m2026-06-06 21:14:02.036174019 [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 + 14.18sINFOobjective_server_node[0;93m2026-06-06 21:14:02.038651563 [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 + 14.18sINFOobjective_server_node[0;93m2026-06-06 21:14:02.038675293 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.46sINFOobjective_server_node[0;93m2026-06-06 21:14:02.317238028 [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 + 14.48sINFOobjective_server_node[0;93m2026-06-06 21:14:02.338733905 [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 + 14.48sINFOobjective_server_node[0;93m2026-06-06 21:14:02.338797047 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757549 ms (missed cycles : 7). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757549 ms (missed cycles : 7).[0m ×2 + 15.36sWARNcontroller_managerOverrun might occur, Total time : 7028.382 us (Expected < 1666.667 us) --> Read time : 142.283 us, Update time : 6474.010 us, Write time : 412.089 us + 15.36sWARNros2_control_nodeOverrun might occur, Total time : 7028.382 us (Expected < 1666.667 us) --> Read time : 142.283 us, Update time : 6474.010 us, Write time : 412.089 us[0m ×2 + 15.44sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/masks_visualization" + 15.44sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/masks_visualization"[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430709 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430709 ms (missed cycles : 3).[0m ×2 + 16.05sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936416 ms (missed cycles : 3). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936416 ms (missed cycles : 3).[0m ×2 + 17.33sWARNcontroller_managerOverrun might occur, Total time : 4056.818 us (Expected < 1666.667 us) --> Read time : 123.843 us, Update time : 3579.537 us, Write time : 353.438 us + 17.33sWARNros2_control_nodeOverrun might occur, Total time : 4056.818 us (Expected < 1666.667 us) --> Read time : 123.843 us, Update time : 3579.537 us, Write time : 353.438 us[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472069 ms (missed cycles : 3). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472069 ms (missed cycles : 3).[0m ×2 + 18.70sWARNcontroller_managerOverrun might occur, Total time : 1916.361 us (Expected < 1666.667 us) --> Read time : 164.583 us, Update time : 853.748 us, Write time : 898.030 us + 18.71sWARNros2_control_nodeOverrun might occur, Total time : 1916.361 us (Expected < 1666.667 us) --> Read time : 164.583 us, Update time : 853.748 us, Write time : 898.030 us[0m ×2 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280271 ms (missed cycles : 3). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280271 ms (missed cycles : 3).[0m ×2 + 19.45sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 19.78sINFOobjective_server_nodeFound path in 4 iterations (0.00202074 s). ×2 + 19.85sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 19.86sWARNcontroller_managerOverrun might occur, Total time : 1814.759 us (Expected < 1666.667 us) --> Read time : 87.522 us, Update time : 33.081 us, Write time : 1694.156 us + 19.86sWARNros2_control_nodeOverrun might occur, Total time : 1814.759 us (Expected < 1666.667 us) --> Read time : 87.522 us, Update time : 33.081 us, Write time : 1694.156 us[0m ×2 + 19.87sINFOobjective_server_nodeFound path in 12 iterations (0.00317363 s). ×2 + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857671 ms (missed cycles : 2). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857671 ms (missed cycles : 2).[0m ×2 + 19.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 19.94sINFOobjective_server_nodeFound path in 1 iterations (0.00201588 s). ×2 + 19.98sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/solution" + 19.98sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 19.98sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/solution"[0m ×2 + 20.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 20.02sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 20.03sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 20.06sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 20.07sINFOobjective_server_nodeFound path in 12 iterations (0.0035387 s). ×2 + 20.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 20.14sINFOobjective_server_nodeFound path in 1 iterations (0.00384507 s). ×2 + 20.17sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 20.19sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 20.21sINFOobjective_server_nodePath shortcutter: [X_______________________________________X] ×2 + 20.23sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 20.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 20.27sINFOobjective_server_nodeFound path in 4 iterations (0.00334726 s). ×2 + 20.34sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 20.36sINFOobjective_server_nodeFound path in 4 iterations (0.00211325 s). ×2 + 20.43sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X______________________X] ×2 + 20.45sINFOobjective_server_nodeFound path in 1 iterations (0.00397203 s). ×2 + 20.50sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 20.52sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 20.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 20.58sINFOobjective_server_nodeFound path in 1 iterations (0.00195266 s). ×2 + 20.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] ×2 + 20.65sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 20.69sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 20.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 20.72sINFOros2_control_node[2026-06-06 21:14:08.577] [info] Received new action goal ×2 + 20.72sINFOros2_control_node[2026-06-06 21:14:08.577] [info] Accepted new action goal ×2 + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669842 ms (missed cycles : 2). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669842 ms (missed cycles : 2).[0m ×2 + 21.87sWARNcontroller_managerOverrun might occur, Total time : 1843.959 us (Expected < 1666.667 us) --> Read time : 96.772 us, Update time : 1488.532 us, Write time : 258.655 us + 21.87sWARNros2_control_nodeOverrun might occur, Total time : 1843.959 us (Expected < 1666.667 us) --> Read time : 96.772 us, Update time : 1488.532 us, Write time : 258.655 us[0m ×2 + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811175 ms (missed cycles : 4). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811175 ms (missed cycles : 4).[0m ×2 + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.853108 ms (missed cycles : 7). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.853108 ms (missed cycles : 7).[0m ×2 + 24.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646888 ms (missed cycles : 3). + 24.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646888 ms (missed cycles : 3).[0m ×2 + 24.24sWARNcontroller_managerOverrun might occur, Total time : 10402.987 us (Expected < 1666.667 us) --> Read time : 98.232 us, Update time : 9848.825 us, Write time : 455.930 us + 24.24sWARNros2_control_nodeOverrun might occur, Total time : 10402.987 us (Expected < 1666.667 us) --> Read time : 98.232 us, Update time : 9848.825 us, Write time : 455.930 us[0m ×2 + 25.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308109 ms (missed cycles : 5). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308109 ms (missed cycles : 5).[0m ×2 + 25.72sINFOros2_control_node[2026-06-06 21:14:13.580] [info] Received new action goal ×2 + 25.72sINFOros2_control_node[2026-06-06 21:14:13.580] [info] Accepted new action goal ×2 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033342 ms (missed cycles : 4). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033342 ms (missed cycles : 4).[0m ×2 + 26.62sWARNcontroller_managerOverrun might occur, Total time : 5233.374 us (Expected < 1666.667 us) --> Read time : 96.062 us, Update time : 4737.983 us, Write time : 399.329 us + 26.62sWARNros2_control_nodeOverrun might occur, Total time : 5233.374 us (Expected < 1666.667 us) --> Read time : 96.062 us, Update time : 4737.983 us, Write time : 399.329 us[0m ×2 + 27.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298336 ms (missed cycles : 2). + 27.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298336 ms (missed cycles : 2).[0m ×2 + 27.30sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.31sINFOros2_control_node[2026-06-06 21:14:15.174] [info] Received new action goal ×2 + 27.31sINFOros2_control_node[2026-06-06 21:14:15.174] [info] Accepted new action goal ×2 + 28.05sWARNcontroller_managerOverrun might occur, Total time : 2480.074 us (Expected < 1666.667 us) --> Read time : 179.004 us, Update time : 1928.192 us, Write time : 372.878 us + 28.05sWARNros2_control_nodeOverrun might occur, Total time : 2480.074 us (Expected < 1666.667 us) --> Read time : 179.004 us, Update time : 1928.192 us, Write time : 372.878 us[0m ×2 + 28.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532335 ms (missed cycles : 3). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532335 ms (missed cycles : 3).[0m ×2 + 28.52sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 28.55sINFOros2_control_node[2026-06-06 21:14:16.415] [info] Received new action goal ×2 + 28.56sINFOros2_control_node[2026-06-06 21:14:16.415] [info] Accepted new action goal ×2 + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685787 ms (missed cycles : 2). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685787 ms (missed cycles : 2).[0m ×2 + 29.62sWARNcontroller_managerOverrun might occur, Total time : 2227.389 us (Expected < 1666.667 us) --> Read time : 70.432 us, Update time : 1890.741 us, Write time : 266.216 us + 29.62sWARNros2_control_nodeOverrun might occur, Total time : 2227.389 us (Expected < 1666.667 us) --> Read time : 70.432 us, Update time : 1890.741 us, Write time : 266.216 us[0m ×2 + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.086081 ms (missed cycles : 6). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.086081 ms (missed cycles : 6).[0m ×2 + 31.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708875 ms (missed cycles : 4). + 31.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708875 ms (missed cycles : 4).[0m ×2 + 31.81sWARNcontroller_managerOverrun might occur, Total time : 6998.122 us (Expected < 1666.667 us) --> Read time : 160.913 us, Update time : 6448.121 us, Write time : 389.088 us + 31.81sWARNros2_control_nodeOverrun might occur, Total time : 6998.122 us (Expected < 1666.667 us) --> Read time : 160.913 us, Update time : 6448.121 us, Write time : 389.088 us[0m ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936144 ms (missed cycles : 3). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936144 ms (missed cycles : 3).[0m ×2 + 32.86sWARNcontroller_managerOverrun might occur, Total time : 1736.398 us (Expected < 1666.667 us) --> Read time : 147.254 us, Update time : 1269.147 us, Write time : 319.997 us + 32.86sWARNros2_control_nodeOverrun might occur, Total time : 1736.398 us (Expected < 1666.667 us) --> Read time : 147.254 us, Update time : 1269.147 us, Write time : 319.997 us[0m ×2 + 33.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.698082 ms (missed cycles : 7). + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.698082 ms (missed cycles : 7).[0m ×2 + 33.78sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780780461.64111042 seconds ×3 + 34.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883311 ms (missed cycles : 3). + 34.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883311 ms (missed cycles : 3).[0m ×2 + 34.50sWARNcontroller_managerOverrun might occur, Total time : 2679.699 us (Expected < 1666.667 us) --> Read time : 165.024 us, Update time : 907.660 us, Write time : 1607.015 us + 34.50sWARNros2_control_nodeOverrun might occur, Total time : 2679.699 us (Expected < 1666.667 us) --> Read time : 165.024 us, Update time : 907.660 us, Write time : 1607.015 us[0m ×2 + 34.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780780462.39766240 seconds. ×3 + 34.60sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 34.60sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 34.60sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution" + 34.61sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 34.61sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 34.61sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution"[0m ×2 + 34.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 34.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 34.77sINFOros2_control_node[2026-06-06 21:14:22.633] [info] Received new action goal ×2 + 34.77sINFOros2_control_node[2026-06-06 21:14:22.633] [info] Accepted new action goal ×2 + 35.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225083 ms (missed cycles : 2). + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225083 ms (missed cycles : 2).[0m ×2 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187544 ms (missed cycles : 5). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187544 ms (missed cycles : 5).[0m ×2 + 37.13sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures" + 37.13sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures"[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 25.7s | 3 errors · 159 warnings · 132 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.52sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7).[0m ×2 + 2.31sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780206.78508306 seconds ×3 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780207.34712625 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780207.45726013 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780208.09420657 seconds. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.67sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.67sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.83sWARNcontroller_managerOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us + 3.83sWARNros2_control_nodeOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.77sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4).[0m ×2 + 5.91sWARNcontroller_managerOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us + 5.92sWARNros2_control_nodeOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5).[0m ×2 + 7.14sWARNcontroller_managerOverrun might occur, Total time : 1722.748 us (Expected < 1666.667 us) --> Read time : 97.822 us, Update time : 1289.769 us, Write time : 335.157 us + 7.14sWARNros2_control_nodeOverrun might occur, Total time : 1722.748 us (Expected < 1666.667 us) --> Read time : 97.822 us, Update time : 1289.769 us, Write time : 335.157 us[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511990 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511990 ms (missed cycles : 4).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720595 ms (missed cycles : 3). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720595 ms (missed cycles : 3).[0m ×2 + 8.34sWARNcontroller_managerOverrun might occur, Total time : 1829.440 us (Expected < 1666.667 us) --> Read time : 100.572 us, Update time : 1476.182 us, Write time : 252.686 us + 8.35sWARNros2_control_nodeOverrun might occur, Total time : 1829.440 us (Expected < 1666.667 us) --> Read time : 100.572 us, Update time : 1476.182 us, Write time : 252.686 us[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594037 ms (missed cycles : 4). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594037 ms (missed cycles : 4).[0m ×2 + 9.75sWARNcontroller_managerOverrun might occur, Total time : 5215.274 us (Expected < 1666.667 us) --> Read time : 158.013 us, Update time : 4672.622 us, Write time : 384.639 us + 9.75sWARNros2_control_nodeOverrun might occur, Total time : 5215.274 us (Expected < 1666.667 us) --> Read time : 158.013 us, Update time : 4672.622 us, Write time : 384.639 us[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636663 ms (missed cycles : 4). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636663 ms (missed cycles : 4).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871542 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871542 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun might occur, Total time : 2563.156 us (Expected < 1666.667 us) --> Read time : 181.704 us, Update time : 164.384 us, Write time : 2217.068 us + 11.65sWARNros2_control_nodeOverrun might occur, Total time : 2563.156 us (Expected < 1666.667 us) --> Read time : 181.704 us, Update time : 164.384 us, Write time : 2217.068 us[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526461 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526461 ms (missed cycles : 4).[0m ×2 + 12.89sWARNcontroller_managerOverrun might occur, Total time : 3442.746 us (Expected < 1666.667 us) --> Read time : 142.684 us, Update time : 2938.634 us, Write time : 361.428 us + 12.89sWARNros2_control_nodeOverrun might occur, Total time : 3442.746 us (Expected < 1666.667 us) --> Read time : 142.684 us, Update time : 2938.634 us, Write time : 361.428 us[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.923112 ms (missed cycles : 6). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.923112 ms (missed cycles : 6).[0m ×2 + 14.17sWARNcontroller_managerOverrun might occur, Total time : 1821.150 us (Expected < 1666.667 us) --> Read time : 70.972 us, Update time : 1447.321 us, Write time : 302.857 us + 14.17sWARNros2_control_nodeOverrun might occur, Total time : 1821.150 us (Expected < 1666.667 us) --> Read time : 70.972 us, Update time : 1447.321 us, Write time : 302.857 us[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895297 ms (missed cycles : 3). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895297 ms (missed cycles : 3).[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324055 ms (missed cycles : 2). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324055 ms (missed cycles : 2).[0m ×2 + 16.42sWARNcontroller_managerOverrun might occur, Total time : 3423.505 us (Expected < 1666.667 us) --> Read time : 77.812 us, Update time : 2950.154 us, Write time : 395.539 us + 16.43sWARNros2_control_nodeOverrun might occur, Total time : 3423.505 us (Expected < 1666.667 us) --> Read time : 77.812 us, Update time : 2950.154 us, Write time : 395.539 us[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312783 ms (missed cycles : 4). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312783 ms (missed cycles : 4).[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196282 ms (missed cycles : 2). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196282 ms (missed cycles : 2).[0m ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211472 ms (missed cycles : 4). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211472 ms (missed cycles : 4).[0m ×2 + 18.82sWARNcontroller_managerOverrun might occur, Total time : 1677.727 us (Expected < 1666.667 us) --> Read time : 224.015 us, Update time : 1046.753 us, Write time : 406.959 us + 18.82sWARNros2_control_nodeOverrun might occur, Total time : 1677.727 us (Expected < 1666.667 us) --> Read time : 224.015 us, Update time : 1046.753 us, Write time : 406.959 us[0m ×2 + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.213840 ms (missed cycles : 8). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.213840 ms (missed cycles : 8).[0m ×2 + 20.17sWARNcontroller_managerOverrun might occur, Total time : 3744.362 us (Expected < 1666.667 us) --> Read time : 107.483 us, Update time : 3351.993 us, Write time : 284.886 us + 20.17sWARNros2_control_nodeOverrun might occur, Total time : 3744.362 us (Expected < 1666.667 us) --> Read time : 107.483 us, Update time : 3351.993 us, Write time : 284.886 us[0m ×2 + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.284028 ms (missed cycles : 10). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.284028 ms (missed cycles : 10).[0m ×2 + 21.42sWARNcontroller_managerOverrun might occur, Total time : 5013.457 us (Expected < 1666.667 us) --> Read time : 101.292 us, Update time : 4489.967 us, Write time : 422.198 us + 21.42sWARNros2_control_nodeOverrun might occur, Total time : 5013.457 us (Expected < 1666.667 us) --> Read time : 101.292 us, Update time : 4489.967 us, Write time : 422.198 us[0m ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821667 ms (missed cycles : 3). + 21.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821667 ms (missed cycles : 3).[0m ×2 + 22.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.965582 ms (missed cycles : 6). + 22.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.965582 ms (missed cycles : 6).[0m ×2 + 22.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 22.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 22.81sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 22.91sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 22.91sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 22.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 22.93sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 22.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 22.97sINFOobjective_server_nodeFound path in 1 iterations (0.00187743 s). ×2 + 23.03sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 23.04sWARNcontroller_managerOverrun might occur, Total time : 4704.583 us (Expected < 1666.667 us) --> Read time : 145.503 us, Update time : 4229.692 us, Write time : 329.388 us + 23.04sWARNros2_control_nodeOverrun might occur, Total time : 4704.583 us (Expected < 1666.667 us) --> Read time : 145.503 us, Update time : 4229.692 us, Write time : 329.388 us[0m ×2 + 23.08sINFOros2_control_node[2026-06-06 21:10:27.532] [info] Received new action goal ×2 + 23.08sINFOros2_control_node[2026-06-06 21:10:27.532] [info] Accepted new action goal ×2 + 23.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 23.31sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m ×2 + 23.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.716857 ms (missed cycles : 8). + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.716857 ms (missed cycles : 8).[0m ×2 + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391909 ms (missed cycles : 2). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391909 ms (missed cycles : 2).[0m ×2 + 25.11sWARNcontroller_managerOverrun might occur, Total time : 2351.672 us (Expected < 1666.667 us) --> Read time : 110.522 us, Update time : 1975.884 us, Write time : 265.266 us + 25.11sWARNros2_control_nodeOverrun might occur, Total time : 2351.672 us (Expected < 1666.667 us) --> Read time : 110.522 us, Update time : 1975.884 us, Write time : 265.266 us[0m ×2 + 25.60sINFOros2_control_node[2026-06-06 21:10:30.056] [info] Received new action goal ×2 + 25.60sINFOros2_control_node[2026-06-06 21:10:30.056] [info] Accepted new action goal ×2 + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429199 ms (missed cycles : 4). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429199 ms (missed cycles : 4).[0m ×2 + 26.47sWARNcontroller_managerOverrun might occur, Total time : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us + 26.47sWARNros2_control_nodeOverrun might occur, Total time : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us[0m ×2 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2).[0m ×2 + 27.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.38sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Received new action goal ×2 + 27.38sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Accepted new action goal ×2 + 27.88sWARNcontroller_managerOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us + 27.89sWARNros2_control_nodeOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us[0m ×2 + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3).[0m ×2 + 28.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780233.22438717 seconds ×3 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2).[0m ×2 + 29.29sWARNcontroller_managerOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us + 29.29sWARNros2_control_nodeOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us[0m ×2 + 29.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780233.80272007 seconds. ×3 + 29.38sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 29.38sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 29.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780233.87284064 seconds ×3 + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2).[0m ×2 + 30.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780234.49303055 seconds. ×3 + 30.14sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 30.14sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 30.15sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Received new action goal ×2 + 30.15sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Accepted new action goal ×2 + 30.33sWARNcontroller_managerOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us + 30.33sWARNros2_control_nodeOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us[0m ×2 + 30.39sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 30.39sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 30.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5).[0m ×2 + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3).[0m ×2 + 32.17sWARNcontroller_managerOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us + 32.18sWARNros2_control_nodeOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 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 | 4605 errors · 153 warnings · 62454 info |
+ 0.00sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 3. The simulation is unstable. Time = 0.7400. ×16836 + 0.00sINFOobjective_server_node ×16836 + 0.00sINFOobjective_server_nodeRollout divergence at step ×16836 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2732 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15395.684111658873007 ×244 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×5488 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15395.684111658873007[0m ×512 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903525 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903525 ms (missed cycles : 2).[0m ×2 + 0.53sWARNcontroller_managerOverrun might occur, Total time : 4703.623 us (Expected < 1666.667 us) --> Read time : 149.173 us, Update time : 4144.791 us, Write time : 409.659 us + 0.77sWARNros2_control_nodeOverrun might occur, Total time : 4703.623 us (Expected < 1666.667 us) --> Read time : 149.173 us, Update time : 4144.791 us, Write time : 409.659 us[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284577 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284577 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 3219.781 us (Expected < 1666.667 us) --> Read time : 160.314 us, Update time : 2682.228 us, Write time : 377.239 us + 1.90sWARNros2_control_nodeOverrun might occur, Total time : 3219.781 us (Expected < 1666.667 us) --> Read time : 160.314 us, Update time : 2682.228 us, Write time : 377.239 us[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951138 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951138 ms (missed cycles : 2).[0m ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 3491.406 us (Expected < 1666.667 us) --> Read time : 87.762 us, Update time : 3037.686 us, Write time : 365.958 us + 2.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 3491.406 us (Expected < 1666.667 us) --> Read time : 87.762 us, Update time : 3037.686 us, Write time : 365.958 us[0m ×2 + 3.05sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.28% of iterations over budget over 3:10.003 of wall time (166/58743). Below 1% is expected on a non-realtime system.[0m ×2 + 3.12sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.429224 ms (missed cycles : 8). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.429224 ms (missed cycles : 8).[0m ×2 + 3.32sERRORobjective_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 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780780378.67682362 seconds ×3 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780780379.27366924 seconds. ×3 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.07sINFOros2_control_node[2026-06-06 21:12:59.416] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-06 21:12:59.416] [info] Accepted new action goal ×2 + 4.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 4.19sINFOobjective_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 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133183 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133183 ms (missed cycles : 5).[0m ×2 + 4.65sWARNcontroller_managerOverrun might occur, Total time : 2805.501 us (Expected < 1666.667 us) --> Read time : 111.152 us, Update time : 2414.783 us, Write time : 279.566 us + 4.65sWARNros2_control_nodeOverrun might occur, Total time : 2805.501 us (Expected < 1666.667 us) --> Read time : 111.152 us, Update time : 2414.783 us, Write time : 279.566 us[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143161 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143161 ms (missed cycles : 2).[0m ×2 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 4297.954 us (Expected < 1666.667 us) --> Read time : 157.064 us, Update time : 3784.832 us, Write time : 356.058 us + 5.93sWARNros2_control_nodeOverrun might occur, Total time : 4297.954 us (Expected < 1666.667 us) --> Read time : 157.064 us, Update time : 3784.832 us, Write time : 356.058 us[0m ×2 + 6.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000235157420602 + 6.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000235157420602[0m ×2 + 6.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132116390573 + 6.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132116390573[0m ×2 + 6.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395546408921 + 6.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395546408921[0m ×2 + 6.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094819268488 + 6.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094819268488[0m ×2 + 6.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000531702687451 + 6.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000531702687451[0m ×2 + 6.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293523870536 + 6.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293523870536[0m ×2 + 6.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000758578840658 + 6.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000758578840658[0m ×2 + 6.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945559298854 + 6.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945559298854[0m ×2 + 6.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001135317663524 + 6.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001135317663524[0m ×2 + 6.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001230883546631 + 6.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001230883546631[0m ×2 + 6.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000656214154340 + 6.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000656214154340[0m ×2 + 6.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000233270452563 ×2 + 6.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000233270452563[0m ×4 + 6.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000620201297956 + 6.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000620201297956[0m ×2 + 6.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000448306905820 + 6.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000448306905820[0m ×2 + 6.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000769459499485 + 6.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000769459499485[0m ×2 + 6.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000809188784690 + 6.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000809188784690[0m ×2 + 6.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000341717561123 ×2 + 6.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000341717561123[0m ×4 + 6.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000445882793085 + 6.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000445882793085[0m ×2 + 6.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550507206400 + 6.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000550507206400[0m ×2 + 6.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483533215071 + 6.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483533215071[0m ×2 + 6.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167031737845 + 6.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167031737845[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055525 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055525 ms (missed cycles : 5).[0m ×2 + 6.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135589610673 + 6.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135589610673[0m ×2 + 6.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136581496829 + 6.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136581496829[0m ×2 + 6.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010486573559 ×2 + 6.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010486573559[0m ×4 + 6.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093639023559 + 6.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093639023559[0m ×2 + 6.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000240230660924 + 6.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000240230660924[0m ×2 + 6.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000432548879180 + 6.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000432548879180[0m ×2 + 6.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000781043531588 + 6.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000781043531588[0m ×2 + 6.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001102132648577 + 6.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001102132648577[0m ×2 + 6.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000635983265789 + 6.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000635983265789[0m ×2 + 6.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000833855355919 + 6.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000833855355919[0m ×2 + 6.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000491140478430 + 6.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000491140478430[0m ×2 + 6.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000571144547496 + 6.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000571144547496[0m ×2 + 6.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000900620214446 + 6.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000900620214446[0m ×2 + 6.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001099603550930 + 6.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001099603550930[0m ×2 + 6.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001208491396911 + 6.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001208491396911[0m ×2 + 6.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001407726833700 + 6.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001407726833700[0m ×2 + 6.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369445343600 + 6.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369445343600[0m ×2 + 6.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001321140669357 + 6.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001321140669357[0m ×2 + 6.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691041420951 + 6.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691041420951[0m ×2 + 6.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001489609908273 + 6.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001489609908273[0m ×2 + 6.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690465960983 + 6.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690465960983[0m ×2 + 6.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458472194232 + 6.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458472194232[0m ×2 + 6.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490422721148 + 6.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490422721148[0m ×2 + 6.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000999637839790 + 6.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000999637839790[0m ×2 + 6.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000621529332302 + 6.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000621529332302[0m ×2 + 6.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000822213090172 + 6.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000822213090172[0m ×2 + 6.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000969293700037 + 6.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000969293700037[0m ×2 + 6.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001346686401588 + 6.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001346686401588[0m ×2 + 6.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001291667693268 + 6.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001291667693268[0m ×2 + 6.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351706464258 + 6.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351706464258[0m ×2 + 6.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001281015315672 + 6.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001281015315672[0m ×2 + 6.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313612732007 + 6.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313612732007[0m ×2 + 6.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001247500858344 + 6.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001247500858344[0m ×2 + 6.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257087665173 + 6.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257087665173[0m ×2 + 6.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209150810215 + 6.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209150810215[0m ×2 + 6.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179749626500 + 6.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179749626500[0m ×2 + 6.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161942504920 + 6.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161942504920[0m ×2 + 6.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179799309733 + 6.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179799309733[0m ×2 + 6.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001165838022451 + 6.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001165838022451[0m ×2 + 6.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161223772771 + 6.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161223772771[0m ×2 + 6.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179189425886 + 6.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179189425886[0m ×2 + 6.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001174327903948 + 6.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001174327903948[0m ×2 + 6.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001192346163608 + 6.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001192346163608[0m ×2 + 6.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001187117876824 + 6.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001187117876824[0m ×2 + 6.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000529806911038 + 6.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000529806911038[0m ×2 + 6.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000864560439770 + 6.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000864560439770[0m ×2 + 6.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257368692217 + 6.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257368692217[0m ×2 + 6.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315360112046 + 6.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001315360112046[0m ×2 + 6.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709183059011 + 6.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709183059011[0m ×2 + 6.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573287163879 + 6.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573287163879[0m ×2 + 6.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001570197304796 + 6.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001570197304796[0m ×2 + 6.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001468098889812 + 6.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001468098889812[0m ×2 + 6.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001502254870343 + 6.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001502254870343[0m ×2 + 6.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413732948479 + 6.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413732948479[0m ×2 + 6.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352837940185 + 6.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352837940185[0m ×2 + 6.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001416308936287 + 6.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001416308936287[0m ×2 + 6.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352035844109 + 6.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352035844109[0m ×2 + 6.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001370677348282 + 6.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001370677348282[0m ×2 + 6.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001323519326922 + 6.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001323519326922[0m ×2 + 6.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001296725393752 + 6.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001296725393752[0m ×2 + 6.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001360728481851 + 6.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001360728481851[0m ×2 + 6.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001322833114412 + 6.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001322833114412[0m ×2 + 6.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001341630618882 + 6.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001341630618882[0m ×2 + 6.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313960803711 + 6.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313960803711[0m ×2 + 6.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001348791300147 + 6.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001348791300147[0m ×2 + 6.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494236963365 + 6.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494236963365[0m ×2 + 6.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529243088428 + 6.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529243088428[0m ×2 + 6.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001463836495787 + 6.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001463836495787[0m ×2 + 6.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498936490828 + 6.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001498936490828[0m ×2 + 6.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438219932428 + 6.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438219932428[0m ×2 + 6.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001397384286428 + 6.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001397384286428[0m ×2 + 6.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001462584826462 + 6.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001462584826462[0m ×2 + 6.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001411648752394 + 6.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001411648752394[0m ×2 + 6.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001447027160153 + 6.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001447027160153[0m ×2 + 6.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001401959858842 + 6.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001401959858842[0m ×2 + 6.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467513967538 + 6.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467513967538[0m ×2 + 7.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415394415426 + 7.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415394415426[0m ×2 + 7.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557351666535 + 7.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557351666535[0m ×2 + 7.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001503796931699 + 7.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001503796931699[0m ×2 + 7.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626143610474 + 7.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626143610474[0m ×2 + 7.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001539027114524 + 7.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001539027114524[0m ×2 + 7.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001574954169353 + 7.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001574954169353[0m ×2 + 7.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001501639861041 + 7.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001501639861041[0m ×2 + 7.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001454705479021 + 7.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001454705479021[0m ×2 + 7.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001521432813229 + 7.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001521432813229[0m ×2 + 7.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467685121721 + 7.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467685121721[0m ×2 + 7.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534598883681 + 7.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534598883681[0m ×2 + 7.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001476754355913 + 7.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001476754355913[0m ×2 + 7.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001543822171800 + 7.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001543822171800[0m ×2 + 7.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001483655109362 + 7.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001483655109362[0m ×2 + 7.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001550893309035 + 7.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001550893309035[0m ×2 + 7.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001489502833061 + 7.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001489502833061[0m ×2 + 7.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001556911267728 + 7.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001556911267728[0m ×2 + 7.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001649653502528 + 7.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001649653502528[0m ×2 + 7.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001582712809821 + 7.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001582712809821[0m ×2 + 7.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001708142918313 + 7.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001708142918313[0m ×2 + 7.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001612530313783 + 7.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001612530313783[0m ×2 + 7.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680579135389 + 7.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680579135389[0m ×2 + 7.15sWARNcontroller_managerOverrun might occur, Total time : 3394.954 us (Expected < 1666.667 us) --> Read time : 174.544 us, Update time : 2906.763 us, Write time : 313.647 us + 7.16sWARNros2_control_nodeOverrun might occur, Total time : 3394.954 us (Expected < 1666.667 us) --> Read time : 174.544 us, Update time : 2906.763 us, Write time : 313.647 us[0m ×2 + 7.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001590084747972 + 7.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001590084747972[0m ×2 + 7.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689919153096 + 7.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689919153096[0m ×2 + 7.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001622911776255 + 7.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001622911776255[0m ×2 + 7.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001575680869427 + 7.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001575680869427[0m ×2 + 7.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001544538870938 + 7.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001544538870938[0m ×2 + 7.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001780171156553 + 7.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001780171156553[0m ×2 + 7.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001669447989122 + 7.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001669447989122[0m ×2 + 7.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738700018224 + 7.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738700018224[0m ×2 + 7.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638986960077 + 7.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638986960077[0m ×2 + 7.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001767062945489 + 7.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001767062945489[0m ×2 + 7.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001654436151263 + 7.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001654436151263[0m ×2 + 7.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584076645900 + 7.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584076645900[0m ×2 + 7.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001712755311810 + 7.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001712755311810[0m ×2 + 7.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001622647641917 + 7.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001622647641917[0m ×2 + 7.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001692450659439 + 7.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001692450659439[0m ×2 + 7.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611577573524 + 7.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611577573524[0m ×2 + 7.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001740941487121 + 7.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001740941487121[0m ×2 + 7.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643719074115 + 7.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643719074115[0m ×2 + 7.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001585834025574 + 7.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001585834025574[0m ×2 + 7.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001715696943103 + 7.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001715696943103[0m ×2 + 7.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634527226816 + 7.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634527226816[0m ×2 + 7.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001764687624969 + 7.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001764687624969[0m ×2 + 7.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001666777309124 + 7.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001666777309124[0m ×2 + 7.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001737458691160 + 7.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001737458691160[0m ×2 + 7.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001651335824750 + 7.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001651335824750[0m ×2 + 7.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000775153580878 + 7.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000775153580878[0m ×2 + 7.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223896993377 + 7.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223896993377[0m ×2 + 7.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002119470207350 + 7.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002119470207350[0m ×2 + 7.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001967380400651 + 7.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001967380400651[0m ×2 + 7.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001961818002004 + 7.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001961818002004[0m ×2 + 7.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851559620074 + 7.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851559620074[0m ×2 + 7.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001770822575774 + 7.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001770822575774[0m ×2 + 7.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001714482005030 + 7.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001714482005030[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168701384573 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168701384573[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001955502530888 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001955502530888[0m ×2 + 7.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002088846881345 + 7.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002088846881345[0m ×2 + 7.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001894980065715 + 7.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001894980065715[0m ×2 + 7.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002028852217032 + 7.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002028852217032[0m ×2 + 7.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853263375149 + 7.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853263375149[0m ×2 + 7.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001987568908149 + 7.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001987568908149[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001826009965629 + 7.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001826009965629[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001727089421505 + 7.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001727089421505[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428896 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428896 ms (missed cycles : 3).[0m ×2 + 7.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001976545539491 + 7.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001976545539491[0m ×2 + 7.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824880706156 + 7.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824880706156[0m ×2 + 7.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880730103804 + 7.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880730103804[0m ×2 + 7.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805542434606 + 7.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805542434606[0m ×2 + 7.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001762456933117 + 7.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001762456933117[0m ×2 + 7.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738575721115 + 7.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738575721115[0m ×2 + 7.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002211669068598 + 7.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002211669068598[0m ×2 + 7.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002018456331203 + 7.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002018456331203[0m ×2 + 7.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002157589660888 + 7.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002157589660888[0m ×2 + 7.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001974536901347 + 7.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001974536901347[0m ×2 + 7.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114068610609 + 7.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114068610609[0m ×2 + 7.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001941613817025 + 7.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001941613817025[0m ×2 + 7.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001832620220220 + 7.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001832620220220[0m ×2 + 7.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091808956959 + 7.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091808956959[0m ×2 + 7.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001928264759366 + 7.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001928264759366[0m ×2 + 7.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001826528447053 + 7.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001826528447053[0m ×2 + 7.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001768220519769 + 7.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001768220519769[0m ×2 + 7.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739187383367 + 7.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739187383367[0m ×2 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222569220668 + 7.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222569220668[0m ×2 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002026094838483 + 7.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002026094838483[0m ×2 + 7.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168027183849 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168027183849[0m ×2 + 7.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001985712662923 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001985712662923[0m ×2 + 7.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002248533617306 + 7.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002248533617306[0m ×2 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002031946299521 + 7.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002031946299521[0m ×2 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002174489096703 + 7.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002174489096703[0m ×2 + 7.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981992931187 + 7.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981992931187[0m ×2 + 7.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002005062570331 + 7.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002005062570331[0m ×2 + 7.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002269834521980 + 7.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002269834521980[0m ×2 + 7.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079234076407 + 7.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079234076407[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001950933751960 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001950933751960[0m ×2 + 7.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001869263690489 + 7.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001869263690489[0m ×2 + 7.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820869243762 + 7.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820869243762[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002313245126864 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002313245126864[0m ×2 + 7.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002098103983541 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002098103983541[0m ×2 + 7.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002364979289518 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002364979289518[0m ×2 + 7.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002120691628065 + 7.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002120691628065[0m ×2 + 7.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001961931694284 + 7.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001961931694284[0m ×2 + 7.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002229559302885 + 7.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002229559302885[0m ×2 + 7.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002029753406417 + 7.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002029753406417[0m ×2 + 7.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001904617725705 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001904617725705[0m ×2 + 7.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001832038322811 + 7.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001832038322811[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572586058320 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572586058320[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002258560215277 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002258560215277[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404250171373 + 7.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404250171373[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002140096551595 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002140096551595[0m ×2 + 7.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409544775538 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409544775538[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002136918940270 + 7.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002136918940270[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001964168593518 + 7.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001964168593518[0m ×2 + 7.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002234230182131 + 7.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002234230182131[0m ×2 + 7.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002028420428209 + 7.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002028420428209[0m ×2 + 7.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002298681152335 + 7.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002298681152335[0m ×2 + 7.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002068916816022 + 7.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002068916816022[0m ×2 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002339405850047 + 7.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002339405850047[0m ×2 + 7.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093003823597 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093003823597[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939597884977 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939597884977[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021122683823 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021122683823[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002732678330542 + 7.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002732678330542[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812152366357 + 7.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812152366357[0m ×2 + 7.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002431263524221 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002431263524221[0m ×2 + 7.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002171592733054 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002171592733054[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673624855313 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673624855313[0m ×2 + 7.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312283782714 + 7.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312283782714[0m ×2 + 7.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002076358918729 + 7.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002076358918729[0m ×2 + 7.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578873072878 + 7.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578873072878[0m ×2 + 7.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002240635059464 + 7.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002240635059464[0m ×2 + 7.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002024958973854 + 7.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002024958973854[0m ×2 + 7.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527904339736 + 7.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527904339736[0m ×2 + 7.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002206077371352 + 7.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002206077371352[0m ×2 + 7.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003046569506 + 7.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003046569506[0m ×2 + 7.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002506349693829 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002506349693829[0m ×2 + 7.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002193654891309 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002193654891309[0m ×2 + 8.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002097805008180 + 8.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002097805008180[0m ×2 + 8.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002124643932416 + 8.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002124643932416[0m ×2 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397382515937 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397382515937[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984237679460 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984237679460[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064086551249 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064086551249[0m ×2 + 8.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002589566734012 + 8.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002589566734012[0m ×2 + 8.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265612443641 + 8.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265612443641[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002142241232542 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002142241232542[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002803811237156 + 8.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002803811237156[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076620510485 + 8.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076620510485[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002586587257916 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002586587257916[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002255313201360 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002255313201360[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002759504808434 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002759504808434[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353273353468 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353273353468[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091342930443 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091342930443[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002595537008950 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002595537008950[0m ×2 + 8.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002243503381828 + 8.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002243503381828[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811785461294 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811785461294[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002378877445127 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002378877445127[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651629572243 + 8.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651629572243[0m ×2 + 8.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002269115028655 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002269115028655[0m ×2 + 8.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002029396834508 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002029396834508[0m ×2 + 8.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533367482435 + 8.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533367482435[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200396886536 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200396886536[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002704217113267 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002704217113267[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002304528009337 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002304528009337[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052259667065 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052259667065[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002555998038794 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002555998038794[0m ×2 + 8.20sWARNcontroller_managerOverrun might occur, Total time : 5183.204 us (Expected < 1666.667 us) --> Read time : 118.233 us, Update time : 4725.584 us, Write time : 339.387 us + 8.20sWARNros2_control_nodeOverrun might occur, Total time : 5183.204 us (Expected < 1666.667 us) --> Read time : 118.233 us, Update time : 4725.584 us, Write time : 339.387 us[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002214378345694 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002214378345694[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002094647734056 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002094647734056[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002598178479046 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002598178479046[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003075466698340 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003075466698340[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002568034288344 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002568034288344[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840308974588 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840308974588[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398907923763 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398907923763[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901950551711 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901950551711[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002424924168773 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002424924168773[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002119573382198 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002119573382198[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622410605166 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622410605166[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246602864205 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246602864205[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002749265832201 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002749265832201[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002270086541911 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002270086541911[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772517598463 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772517598463[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002368166865347 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002368166865347[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002870409455164 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002870409455164[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002416491781958 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002416491781958[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002910658214368 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002910658214368[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002990191028730 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002990191028730[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002481674122364 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002481674122364[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940123941544 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002940123941544[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002441062012980 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002441062012980[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002146531122943 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002146531122943[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647756066074 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647756066074[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082975551867 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082975551867[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229652677819 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229652677819[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647446394663 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647446394663[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003047983393955 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003047983393955[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003090908264098 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003090908264098[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535071999416 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535071999416[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961231009411 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961231009411[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041474673813 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041474673813[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002511739262313 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002511739262313[0m ×2 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788791321431 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788791321431[0m ×2 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354412905546 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354412905546[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871005099639 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871005099639[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002413427827455 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002413427827455[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933756454067 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933756454067[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002450402381276 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002450402381276[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962779778667 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962779778667[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115204545804 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115204545804[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002567538920468 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002567538920468[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003087938521219 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003087938521219[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585425 ms (missed cycles : 2). + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002539355977607 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002539355977607[0m ×2 + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585425 ms (missed cycles : 2).[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007703746756 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007703746756[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002387632097461 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002387632097461[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002954741123734 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002954741123734[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474579814226 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474579814226[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602756155406 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602756155406[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002290951871156 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002290951871156[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002929217435467 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002929217435467[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322562279585 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322562279585[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841743507444 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841743507444[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053645888237 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053645888237[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572722855097 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572722855097[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846388304677 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846388304677[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365360756382 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365360756382[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002694051767048 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002694051767048[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212918654243 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212918654243[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587141912479 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587141912479[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007868583504 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007868583504[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288510806704 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288510806704[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642640076656 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642640076656[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002213878011196 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002213878011196[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002145792261514 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002145792261514[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002664064673205 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002664064673205[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003170965256380 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003170965256380[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128115050055 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128115050055[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250383178532 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250383178532[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466017865721 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466017865721[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003746166517250 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003746166517250[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002945076399108 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002945076399108[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462695958095 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462695958095[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553995540206 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553995540206[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003598372722437 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003598372722437[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814602020041 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814602020041[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003127135583781 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003127135583781[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332507586010 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332507586010[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003460183048586 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003460183048586[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484177260446 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484177260446[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002738881807343 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002738881807343[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079581876364 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079581876364[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359236308642 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359236308642[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478206105957 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478206105957[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003491182199708 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003491182199708[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744482117189 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744482117189[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002216831001591 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002216831001591[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171177336145 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171177336145[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414600664584 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414600664584[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930798348569 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930798348569[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063620229752 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063620229752[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304313730215 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304313730215[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003453445575843 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003453445575843[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732629036711 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732629036711[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711819814376 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711819814376[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873583718054 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873583718054[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149940708875 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149940708875[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665529469885 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665529469885[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003654116605654 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003654116605654[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827990702947 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827990702947[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115561777206 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115561777206[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003310500737528 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003310500737528[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589291859478 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589291859478[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608877347613 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608877347613[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003611452105663 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003611452105663[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693066012903 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693066012903[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003668919289886 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003668919289886[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692995140032 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692995140032[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003672869786623 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003672869786623[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665674877357 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665674877357[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003710779599760 + 9.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003710779599760[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695518634233 + 9.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695518634233[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003719923390977 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003719923390977[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695758361986 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695758361986[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741136585993 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741136585993[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001926922670952 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001926922670952[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002733333720020 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002733333720020[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730728026834 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730728026834[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871444516292 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871444516292[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868405725880 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868405725880[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004539026671814 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004539026671814[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273809734092 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273809734092[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431727599711 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431727599711[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004168734444094 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004168734444094[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979002726025 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979002726025[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848271663025 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848271663025[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139878549472 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139878549472[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943078291508 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943078291508[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028457726828 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028457726828[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865990644315 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865990644315[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022961677640 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022961677640[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003850129949232 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003850129949232[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085294923144 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085294923144[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256322539406 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256322539406[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076576915763 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076576915763[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609803823489 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609803823489[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267279032202 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267279032202[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423371220567 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423371220567[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004328492383852 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004328492383852[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004087192001327 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004087192001327[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915107788457 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915107788457[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003797698735960 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003797698735960[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330029385507 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330029385507[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051002661446 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051002661446[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863509930776 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863509930776[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395494353393 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395494353393[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073313575130 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073313575130[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361096793487 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361096793487[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004039400741320 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004039400741320[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003831358563804 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003831358563804[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003704921562213 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003704921562213[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634489273540 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634489273540[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165653496317 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165653496317[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003929525348969 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003929525348969[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460451586156 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460451586156[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106313033378 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106313033378[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873889305898 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873889305898[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404431404400 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404431404400[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058331867821 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058331867821[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345320454160 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345320454160[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447721609115 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447721609115[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602914819743 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602914819743[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222657015307 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222657015307[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752194790625 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752194790625[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005005524437899 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005005524437899[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291961833445 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291961833445[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646709964171 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646709964171[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929258371175 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929258371175[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346787666063 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346787666063[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958117014551 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958117014551[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476770915712 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476770915712[0m ×2 + 9.47sWARNcontroller_managerOverrun might occur, Total time : 4271.013 us (Expected < 1666.667 us) --> Read time : 136.853 us, Update time : 3779.653 us, Write time : 354.507 us + 9.47sWARNros2_control_nodeOverrun might occur, Total time : 4271.013 us (Expected < 1666.667 us) --> Read time : 136.853 us, Update time : 3779.653 us, Write time : 354.507 us[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036333212774 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036333212774[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758546316797 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758546316797[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595416923685 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595416923685[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004552509317729 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004552509317729[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093780287365 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093780287365[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791804454545 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791804454545[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738218124863 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738218124863[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192466772450 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192466772450[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234820 ms (missed cycles : 5). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234820 ms (missed cycles : 5).[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704183482211 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704183482211[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204558512444 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204558512444[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894007747066 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894007747066[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174572426356 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174572426356[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492117113452 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492117113452[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005002794325809 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005002794325809[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351215087056 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351215087056[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003925155487404 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003925155487404[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868073598577 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868073598577[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246796606568 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246796606568[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756807318438 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756807318438[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004163857777873 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004163857777873[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673625439349 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673625439349[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104455712052 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104455712052[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747869748874 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747869748874[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688977016161 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688977016161[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123394141437 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123394141437[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063912567977 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063912567977[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349063872368 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349063872368[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004854783126445 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004854783126445[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191620369597 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191620369597[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004696253155679 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004696253155679[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084482749943 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084482749943[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005162231356728 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005162231356728[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205417892516 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205417892516[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298460023153 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298460023153[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005347390531238 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005347390531238[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004539313268783 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004539313268783[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005460422329440 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005460422329440[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387409875078 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387409875078[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038300927030 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038300927030[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964151409825 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964151409825[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005796248390232 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005796248390232[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006296667454752 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006296667454752[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005138363211719 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005138363211719[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005638417403530 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005638417403530[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004664759708266 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004664759708266[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005475057961233 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005475057961233[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005745177321657 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005745177321657[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700417464375 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700417464375[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005622070692889 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005622070692889[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594259567292 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594259567292[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005515013716429 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005515013716429[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507799402419 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507799402419[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883667061454 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883667061454[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025358509311 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025358509311[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711148997242 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711148997242[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006107432261916 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006107432261916[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006184981811069 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006184981811069[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944258314661 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944258314661[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005847530657236 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005847530657236[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004690684042976 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004690684042976[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005593029258160 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005593029258160[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507504558668 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507504558668[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408896520932 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408896520932[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380495444810 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380495444810[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280907399635 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280907399635[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005706010113402 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005706010113402[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214423481707 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214423481707[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005872982501719 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005872982501719[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004719975635243 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004719975635243[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005616168502633 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005616168502633[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005932150580754 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005932150580754[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006008874458189 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006008874458189[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753590497555 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753590497555[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005647256293851 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005647256293851[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005902105281423 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005902105281423[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005943503957073 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005943503957073[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675147481023 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675147481023[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003774551731493 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003774551731493[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418019676214 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418019676214[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835882478269 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835882478269[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006723042227208 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006723042227208[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226404508463 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226404508463[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607815443134 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607815443134[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005827111165778 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005827111165778[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006299776881635 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006299776881635[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006237181511697 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006237181511697[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006311897474905 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006311897474905[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006209359786652 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006209359786652[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006116953210402 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006116953210402[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006128751452002 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006128751452002[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006046019135513 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006046019135513[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005979340350531 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005979340350531[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053495345673 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053495345673[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006591357106378 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006591357106378[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006594786241315 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006594786241315[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006378470326234 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006378470326234[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006514696462622 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006514696462622[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006284130340444 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006284130340444[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006420047678982 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006420047678982[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006190691601737 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006190691601737[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006022475802993 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006022475802993[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006272467490387 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006272467490387[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006056994404144 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006056994404144[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006306351958548 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006306351958548[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006060955037382 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006060955037382[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006308845191860 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006308845191860[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006035196443766 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006035196443766[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006393233287641 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006393233287641[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006152946553188 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006152946553188[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005967982331253 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005967982331253[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006802958210409 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006802958210409[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006344656723547 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006344656723547[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006790924472305 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006790924472305[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006264290752387 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006264290752387[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871598586467 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871598586467[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006672055331322 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006672055331322[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006079742987559 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006079742987559[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691748767440 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691748767440[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005452421809581 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005452421809581[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006245293787983 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006245293787983[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805576251821 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805576251821[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006596521015158 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006596521015158[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006013002696614 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006013002696614[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006439959120846 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006439959120846[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006168989972042 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006168989972042[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005803616090759 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005803616090759[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005554721297678 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005554721297678[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007655415906060 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007655415906060[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006684887210938 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006684887210938[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007462301149105 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007462301149105[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006497079329752 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006497079329752[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005851209405271 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005851209405271[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007279671668098 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007279671668098[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006320465177183 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006320465177183[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005913198822022 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005913198822022[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007755594086860 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007755594086860[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006659509006312 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006659509006312[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007420140411158 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007420140411158[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006377603601914 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006377603601914[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007859291898361 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007859291898361[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007978162657763 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007978162657763[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006654314740591 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006654314740591[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007401855612204 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007401855612204[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006240658825616 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006240658825616[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007649510783843 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007649510783843[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006370666351810 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006370666351810[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007109451460115 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007109451460115[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005998679740058 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005998679740058[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007358566825863 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007358566825863[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006134190951236 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006134190951236[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007487857797479 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007487857797479[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006188777187292 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006188777187292[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007472648363419 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007472648363419[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007865061381098 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007865061381098[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410278559490 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410278559490[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725705 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725705 ms (missed cycles : 3).[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007744853957765 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007744853957765[0m ×2 + 10.59sWARNcontroller_managerOverrun might occur, Total time : 1762.298 us (Expected < 1666.667 us) --> Read time : 237.825 us, Update time : 92.182 us, Write time : 1432.291 us + 10.59sWARNros2_control_nodeOverrun might occur, Total time : 1762.298 us (Expected < 1666.667 us) --> Read time : 237.825 us, Update time : 92.182 us, Write time : 1432.291 us[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005941774302837 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005941774302837[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007319476846673 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007319476846673[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008635557132153 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008635557132153[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006906168857728 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006906168857728[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007807847278019 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007807847278019[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008511719556486 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008511719556486[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006727782809629 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006727782809629[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008021952372385 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008021952372385[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006359083899916 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006359083899916[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007646166616492 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007646166616492[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008097710153724 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008097710153724[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008300116880899 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008300116880899[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006463001562441 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006463001562441[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007734643923627 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007734643923627[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005580153435002 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005580153435002[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006813431489560 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006813431489560[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009128628121348 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009128628121348[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008994983701561 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008994983701561[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009191710121234 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009191710121234[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008921307008835 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008921307008835[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008978526828095 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008978526828095[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008692116025012 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008692116025012[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009213713958872 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009213713958872[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009317472531710 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009317472531710[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009451709763082 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009451709763082[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009641077014283 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009641077014283[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009020507737015 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009020507737015[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009367955237339 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009367955237339[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008736967968236 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008736967968236[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009081874970554 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009081874970554[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008470317669595 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008470317669595[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008026190942222 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008026190942222[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008654489765982 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008654489765982[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008094432022189 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008094432022189[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008717847175630 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008717847175630[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008084500475675 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008084500475675[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008703036414236 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008703036414236[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008027261625831 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008027261625831[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008640934525427 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008640934525427[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007944059386282 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007944059386282[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009069083310211 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009069083310211[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008162791095708 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008162791095708[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008766318666411 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008766318666411[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007923131721228 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007923131721228[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009029442312460 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009029442312460[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008041290648918 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008041290648918[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007390699034659 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007390699034659[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007628162840406 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007628162840406[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010380563003526 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010380563003526[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011442983812846 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011442983812846[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009547075198464 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009547075198464[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006429299665743 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006429299665743[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009524234023013 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009524234023013[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011419515833201 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011419515833201[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012477806613792 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012477806613792[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009959892484135 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009959892484135[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011811313673234 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011811313673234[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009342568205363 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009342568205363[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010333441063076 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010333441063076[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008288394248351 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008288394248351[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010101898275417 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010101898275417[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008063432250724 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008063432250724[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009857069441986 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009857069441986[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007846618846429 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007846618846429[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009620581075439 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009620581075439[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010412694665514 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010412694665514[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434579393454 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434579393454[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008044980564791 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008044980564791[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011182935965641 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011182935965641[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011509725795826 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011509725795826[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014589680120827 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014589680120827[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010747075925033 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010747075925033[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012389756224211 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012389756224211[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011691750361314 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011691750361314[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011830307972410 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011830307972410[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011157115814584 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011157115814584[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011293756613336 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011293756613336[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010677540957513 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010677540957513[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010926533779055 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010926533779055[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010332810092171 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010332810092171[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010825339059346 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010825339059346[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012336226512958 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012336226512958[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011140815374785 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011140815374785[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012626022226098 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012626022226098[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011122415672699 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011122415672699[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011912323491553 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011912323491553[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010509513016384 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010509513016384[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011286914116203 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011286914116203[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009993371248862 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009993371248862[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011407148875529 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011407148875529[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009956504225643 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009956504225643[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009516843228241 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009516843228241[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012018819715849 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012018819715849[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014213101742333 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014213101742333[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011465796628517 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011465796628517[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013308845963959 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013308845963959[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010562035481819 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010562035481819[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012861834179242 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012861834179242[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010111164330506 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010111164330506[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012362462395548 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012362462395548[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009661051564289 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009661051564289[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011363283964729 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011363283964729[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013514114703046 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013514114703046[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010213979728084 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010213979728084[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011349018907175 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011349018907175[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013402160026203 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013402160026203[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014485578499571 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014485578499571[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016433659711720 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016433659711720[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014720545315768 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014720545315768[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014767920501029 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014767920501029[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013334643587406 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013334643587406[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013872499028561 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013872499028561[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012506234106993 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012506234106993[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013472465753784 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013472465753784[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012024927970611 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012024927970611[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010955680162356 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010955680162356[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014074818101228 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014074818101228[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012007731349993 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012007731349993[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013632533598743 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013632533598743[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011502898263625 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011502898263625[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014407881784840 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014407881784840[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008519840865046 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008519840865046[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013553593011020 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013553593011020[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015550178490964 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015550178490964[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016239716378391 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016239716378391[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020749285448945 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020749285448945[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014959178804858 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014959178804858[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017278999113461 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017278999113461[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015915604860827 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015915604860827[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014592689907675 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014592689907675[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016680476770980 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016680476770980[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014577549844772 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014577549844772[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016546440895744 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016546440895744[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013908216494376 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013908216494376[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017205795745300 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017205795745300[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018983812145127 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018983812145127[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020601950799106 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020601950799106[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015425696848477 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015425696848477[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016159515375430 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016159515375430[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018761032077955 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018761032077955[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017324558163064 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017324558163064[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692824 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692824 ms (missed cycles : 3).[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009770991262791 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009770991262791[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007023231907143 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007023231907143[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009016530968425 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009016530968425[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010195604944931 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010195604944931[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012029531376532 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012029531376532[0m ×2 + 11.61sWARNcontroller_managerOverrun might occur, Total time : 7122.065 us (Expected < 1666.667 us) --> Read time : 98.912 us, Update time : 6529.272 us, Write time : 493.881 us + 11.62sWARNros2_control_nodeOverrun might occur, Total time : 7122.065 us (Expected < 1666.667 us) --> Read time : 98.912 us, Update time : 6529.272 us, Write time : 493.881 us[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011621964480742 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011621964480742[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007065171686152 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007065171686152[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008043745965303 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008043745965303[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008466728417936 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008466728417936[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009223466806632 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009223466806632[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006809460322339 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006809460322339[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008147010934569 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008147010934569[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006061439014138 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006061439014138[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006746968911413 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006746968911413[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007102754086060 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007102754086060[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401365951935 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401365951935[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006577892515754 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006577892515754[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004658120655196 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004658120655196[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764783908810 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764783908810[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673623781990 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673623781990[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005669142609911 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005669142609911[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006226779210925 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006226779210925[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004954710968219 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004954710968219[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005496351787377 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005496351787377[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468451722801 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468451722801[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005442731393169 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005442731393169[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418492073038 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418492073038[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005364790973654 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005364790973654[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353822079407 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353822079407[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756362292828 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756362292828[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857628225095 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857628225095[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005724029067774 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005724029067774[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669733382436 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669733382436[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005283654394267 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005283654394267[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525243245222 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525243245222[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004465038387075 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004465038387075[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277371088766 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277371088766[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264825402184 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264825402184[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005060014611916 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005060014611916[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099949515305 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099949515305[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707563431898 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707563431898[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004930771663451 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004930771663451[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008697120049 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008697120049[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761762019829 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761762019829[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003649365693161 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003649365693161[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382983946189 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382983946189[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836778070724 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836778070724[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950453189390 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950453189390[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028872260819 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028872260819[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738530499690 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738530499690[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604403882751 + 11.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604403882751[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003223181585898 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003223181585898[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077041779758 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077041779758[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588954336853 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588954336853[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005256128919106 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005256128919106[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236463788343 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236463788343[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894148236949 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894148236949[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978913833659 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978913833659[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008867836437 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008867836437[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987906774724 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987906774724[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321617414872 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321617414872[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004663223181478 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004663223181478[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740087364809 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740087364809[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004367530978084 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004367530978084[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515813183320 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515813183320[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544427726625 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544427726625[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641269665491 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641269665491[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253180200799 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253180200799[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404621762377 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404621762377[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539851130778 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539851130778[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142426094365 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142426094365[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004307370000361 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004307370000361[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358146816131 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358146816131[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501622960193 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501622960193[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002302503178455 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002302503178455[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002887940974833 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002887940974833[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003628507143922 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003628507143922[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698737354140 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698737354140[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699459560624 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699459560624[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471206935443 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471206935443[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003940272260908 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003940272260908[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197766484284 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197766484284[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220584729260 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220584729260[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953371908702 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953371908702[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005247690841932 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005247690841932[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896116755344 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896116755344[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981019067553 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981019067553[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004671630243508 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004671630243508[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004755481530926 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004755481530926[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490439528854 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490439528854[0m ×2 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536152990057 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536152990057[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429429643788 + 12.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429429643788[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541260828453 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541260828453[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006533971128851 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006533971128851[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009212848101115 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009212848101115[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008948314645100 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008948314645100[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008585236854283 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008585236854283[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009597421592293 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009597421592293[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008761179733013 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008761179733013[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009296064012277 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009296064012277[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008371685338476 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008371685338476[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008896646158993 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008896646158993[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007964827902556 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007964827902556[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007283253955562 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007283253955562[0m ×2 + 12.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008220206118971 + 12.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008220206118971[0m ×2 + 12.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007359169885238 + 12.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007359169885238[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007855990321121 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007855990321121[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007501294903468 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007501294903468[0m ×2 + 12.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007971069065106 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007971069065106[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007093482026843 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007093482026843[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007960588494553 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007960588494553[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007043352756304 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007043352756304[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006438196991188 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006438196991188[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007288331694649 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007288331694649[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006554594536518 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006554594536518[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007389909691144 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007389909691144[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006571663078297 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006571663078297[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007392050066567 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007392050066567[0m ×2 + 12.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006846422125739 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006846422125739[0m ×2 + 12.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006151042595887 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006151042595887[0m ×2 + 12.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007576101192554 + 12.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007576101192554[0m ×2 + 12.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006584810281110 + 12.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006584810281110[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007371329819065 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007371329819065[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007025041756211 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007025041756211[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007830100388956 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007830100388956[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006979871574333 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006979871574333[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007800935532942 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007800935532942[0m ×2 + 12.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006938196266809 + 12.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006938196266809[0m ×2 + 12.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008835984127080 + 12.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008835984127080[0m ×2 + 12.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008872002870429 + 12.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008872002870429[0m ×2 + 12.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007367050657880 + 12.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007367050657880[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006415664831133 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006415664831133[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008195594418898 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008195594418898[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006786801804144 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006786801804144[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008188160480136 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008188160480136[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008576729465918 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008576729465918[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006923449872710 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006923449872710[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007645676517268 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007645676517268[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329303829557 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329303829557[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007687794954964 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007687794954964[0m ×2 + 12.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008359879468699 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008359879468699[0m ×2 + 12.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006652850731499 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006652850731499[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007335943178606 + 12.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007335943178606[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006019390968196 + 12.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006019390968196[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007269103661540 + 12.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007269103661540[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553522 ms (missed cycles : 4). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553522 ms (missed cycles : 4).[0m ×2 + 12.62sWARNcontroller_managerOverrun might occur, Total time : 1922.322 us (Expected < 1666.667 us) --> Read time : 110.913 us, Update time : 1438.511 us, Write time : 372.898 us + 12.63sWARNros2_control_nodeOverrun might occur, Total time : 1922.322 us (Expected < 1666.667 us) --> Read time : 110.913 us, Update time : 1438.511 us, Write time : 372.898 us[0m ×2 + 12.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005957192349864 + 12.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005957192349864[0m ×2 + 12.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804789043045 + 12.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804789043045[0m ×2 + 12.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887377872584 + 12.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887377872584[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007008744042952 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007008744042952[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007746885713083 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007746885713083[0m ×2 + 12.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008839196749962 + 12.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008839196749962[0m ×2 + 12.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008666698825404 + 12.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008666698825404[0m ×2 + 12.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008758208137856 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008758208137856[0m ×2 + 12.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006709701200019 + 12.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006709701200019[0m ×2 + 12.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007157851759849 + 12.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007157851759849[0m ×2 + 12.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007707380563130 + 12.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007707380563130[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005930633379478 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005930633379478[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006557257051581 + 12.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006557257051581[0m ×2 + 12.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007528798228421 + 12.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007528798228421[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005773389471057 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005773389471057[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006359419663476 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006359419663476[0m ×2 + 12.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007287288777000 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007287288777000[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005576817331172 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006527479210273 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005576817331172[0m ×2 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006527479210273[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004941390966195 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004941390966195[0m ×2 + 12.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005485214729077 + 12.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005485214729077[0m ×2 + 12.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015581453675 + 12.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015581453675[0m ×2 + 12.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006169447977748 + 12.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006169447977748[0m ×2 + 12.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007007391043236 + 12.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007007391043236[0m ×2 + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006764636561185 + 12.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006764636561185[0m ×2 + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006464150731138 + 12.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006464150731138[0m ×2 + 12.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006894524680458 + 12.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006894524680458[0m ×2 + 12.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007337055904548 + 12.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007337055904548[0m ×2 + 12.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005965335311203 + 12.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005965335311203[0m ×2 + 12.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006179135300088 + 12.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006179135300088[0m ×2 + 12.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006536639076055 + 12.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006536639076055[0m ×2 + 12.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005911582849988 + 12.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005911582849988[0m ×2 + 12.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709730836430 + 12.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709730836430[0m ×2 + 12.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006074888807135 + 12.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006074888807135[0m ×2 + 12.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005651077525253 + 12.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005651077525253[0m ×2 + 12.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015832714394 + 12.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015832714394[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611865150909 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005611865150909[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005274489104627 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005274489104627[0m ×2 + 12.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005913305761967 + 12.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005913305761967[0m ×2 + 12.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005474602353194 + 12.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005474602353194[0m ×2 + 12.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094075155124 + 12.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094075155124[0m ×2 + 12.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870679665204 + 12.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870679665204[0m ×2 + 12.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005951309062369 + 12.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005951309062369[0m ×2 + 12.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005406481614680 + 12.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005406481614680[0m ×2 + 12.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909962271318 + 12.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909962271318[0m ×2 + 12.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472178896321 + 12.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472178896321[0m ×2 + 12.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008792987361 + 12.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008792987361[0m ×2 + 12.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005536233401705 + 12.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005536233401705[0m ×2 + 12.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004968589214329 + 12.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004968589214329[0m ×2 + 12.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005487085340340 + 12.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005487085340340[0m ×2 + 12.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004903543305006 + 12.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004903543305006[0m ×2 + 13.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004454549369732 + 13.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004454549369732[0m ×2 + 13.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935222802374 + 13.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935222802374[0m ×2 + 13.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004471648545705 + 13.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004471648545705[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005383502378551 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005383502378551[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005606237269690 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005606237269690[0m ×2 + 13.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871152770907 + 13.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871152770907[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620807125951 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620807125951[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537407190070 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537407190070[0m ×2 + 13.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004739886096173 + 13.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004739886096173[0m ×2 + 13.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005348929417209 + 13.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005348929417209[0m ×2 + 13.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558988917849 + 13.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005558988917849[0m ×2 + 13.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569475245407 + 13.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569475245407[0m ×2 + 13.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960914423691 + 13.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960914423691[0m ×2 + 13.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218801830194 + 13.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218801830194[0m ×2 + 13.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004851911818513 + 13.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004851911818513[0m ×2 + 13.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005042045545191 + 13.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005042045545191[0m ×2 + 13.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099929897738 + 13.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099929897738[0m ×2 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241684330337 + 13.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241684330337[0m ×2 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615302536050 + 13.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615302536050[0m ×2 + 13.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004926055101431 + 13.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004926055101431[0m ×2 + 13.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004015753513298 + 13.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004015753513298[0m ×2 + 13.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678130600435 + 13.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678130600435[0m ×2 + 13.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937506419570 + 13.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937506419570[0m ×2 + 13.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354638505130 + 13.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354638505130[0m ×2 + 13.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010802942259 + 13.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010802942259[0m ×2 + 13.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008880710161786 + 13.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008880710161786[0m ×2 + 13.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001280920122355 + 13.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001280920122355[0m ×2 + 13.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005956014394669 + 13.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005956014394669[0m ×2 + 13.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005233558242383 + 13.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005233558242383[0m ×2 + 13.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001007960067535 + 13.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001007960067535[0m ×2 + 13.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006987500295996 + 13.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006987500295996[0m ×2 + 13.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001770625665856 + 13.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001770625665856[0m ×2 + 13.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013353885154018 + 13.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013353885154018[0m ×2 + 13.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087343494775 + 13.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087343494775[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880385348999 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880385348999[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001952492184328 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001952492184328[0m ×2 + 13.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002270377072829 + 13.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002270377072829[0m ×2 + 13.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471972827751 + 13.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471972827751[0m ×2 + 13.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003136801565680 + 13.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003136801565680[0m ×2 + 13.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653858438451 + 13.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653858438451[0m ×2 + 13.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003567049964192 + 13.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003567049964192[0m ×2 + 13.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766081865059 + 13.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766081865059[0m ×2 + 13.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002445311378429 + 13.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002445311378429[0m ×2 + 13.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343822789123 + 13.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343822789123[0m ×2 + 13.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001472214657261 + 13.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001472214657261[0m ×2 + 13.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008858246321486 + 13.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008858246321486[0m ×2 + 13.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000377809671311 + 13.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000377809671311[0m ×2 + 13.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004842215308993 + 13.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004842215308993[0m ×2 + 13.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001858588918358 + 13.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001858588918358[0m ×2 + 13.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750479856672 + 13.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750479856672[0m ×2 + 13.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002937318916243 + 13.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002937318916243[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630946019922 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630946019922[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000537321796799 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000537321796799[0m ×2 + 13.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222366047701 + 13.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222366047701[0m ×2 + 13.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001084497785709 + 13.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001084497785709[0m ×2 + 13.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146608811439 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146608811439[0m ×2 + 13.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002393621168561 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002393621168561[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003410138707204 + 13.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003410138707204[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003492586538194 + 13.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003492586538194[0m ×2 + 13.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002942425280307 + 13.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002942425280307[0m ×2 + 13.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004475787537108 + 13.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004475787537108[0m ×2 + 13.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000603018902464 + 13.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000603018902464[0m ×2 + 13.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000693653697391 + 13.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000693653697391[0m ×2 + 13.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477123383495 + 13.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477123383495[0m ×2 + 13.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000939222680760 + 13.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000939222680760[0m ×2 + 13.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006659484697490 + 13.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006659484697490[0m ×2 + 13.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001837341949028 + 13.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001837341949028[0m ×2 + 13.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005937705408075 + 13.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005937705408075[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004009517041 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004009517041[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006749482220571 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006749482220571[0m ×2 + 13.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129772807979 + 13.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129772807979[0m ×2 + 13.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006985757697836 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006985757697836[0m ×2 + 13.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782665743650 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782665743650[0m ×2 + 13.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006874588258229 + 13.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006874588258229[0m ×2 + 13.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002095579824208 + 13.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002095579824208[0m ×2 + 13.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006595951331492 + 13.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006595951331492[0m ×2 + 13.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000556122166192 + 13.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000556122166192[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004422762444949 + 13.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004422762444949[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003201311740967 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003201311740967[0m ×2 + 13.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001985769882396 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001985769882396[0m ×2 + 13.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003554018869893 + 13.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003554018869893[0m ×2 + 13.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001613854555558 + 13.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001613854555558[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003760650268631 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003760650268631[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063824934655 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063824934655[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002385740907920 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002385740907920[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000805487666700 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000805487666700[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001024670777601 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001024670777601[0m ×2 + 13.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002226370377485 + 13.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002226370377485[0m ×2 + 13.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001353161957315 + 13.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001353161957315[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001591594731188 + 13.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001591594731188[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002036407315606 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002036407315606[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001517132248884 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001517132248884[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001093391123714 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001093391123714[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145227 ms (missed cycles : 2). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145227 ms (missed cycles : 2).[0m ×2 + 13.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001791460662308 + 13.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001791460662308[0m ×2 + 13.67sWARNcontroller_managerOverrun might occur, Total time : 2322.092 us (Expected < 1666.667 us) --> Read time : 139.684 us, Update time : 1887.141 us, Write time : 295.267 us + 13.67sWARNros2_control_nodeOverrun might occur, Total time : 2322.092 us (Expected < 1666.667 us) --> Read time : 139.684 us, Update time : 1887.141 us, Write time : 295.267 us[0m ×2 + 13.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001585272665336 + 13.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001585272665336[0m ×2 + 13.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002588400658500 + 13.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002588400658500[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000481635969451 + 13.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000481635969451[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002569326348675 + 13.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002569326348675[0m ×2 + 13.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000262455738594 + 13.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000262455738594[0m ×2 + 13.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003000603446204 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003000603446204[0m ×2 + 13.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268845795249 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268845795249[0m ×2 + 13.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001872087856962 + 13.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001872087856962[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000546978473445 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000546978473445[0m ×2 + 13.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001505905976635 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001505905976635[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001720752819583 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001720752819583[0m ×2 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002181220653497 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002181220653497[0m ×2 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031957800620 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031957800620[0m ×2 + 13.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814068797475 + 13.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814068797475[0m ×2 + 13.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000130905022032 + 13.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000130905022032[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001599175399051 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001599175399051[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000840566455519 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000840566455519[0m ×2 + 13.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602935189170 + 13.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602935189170[0m ×2 + 13.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001607319361830 + 13.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001607319361830[0m ×2 + 13.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000245676458640 + 13.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000245676458640[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001519133598750 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001519133598750[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813838403224 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813838403224[0m ×2 + 13.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000703474771766 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000703474771766[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001138342204979 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001138342204979[0m ×2 + 13.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000843808598923 + 13.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000843808598923[0m ×2 + 13.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000947903673741 + 13.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000947903673741[0m ×2 + 13.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000309310378244 + 13.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000309310378244[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002069598234281 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002069598234281[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000574755248083 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000574755248083[0m ×2 + 13.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214670971499 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214670971499[0m ×2 + 13.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040288024641 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040288024641[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001078266746313 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001078266746313[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080128566033 + 13.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080128566033[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682038158711 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682038158711[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000387728537304 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000387728537304[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061666441367 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061666441367[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001011283819022 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001011283819022[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000536378696946 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000536378696946[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000690607316183 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000690607316183[0m ×2 + 13.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000345861569051 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000345861569051[0m ×2 + 13.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435632220822 + 13.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435632220822[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056097321924 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056097321924[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000482281737694 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000482281737694[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000110271990628 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000110271990628[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000332466615622 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000332466615622[0m ×2 + 14.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018313083886 + 14.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018313083886[0m ×2 + 14.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000398362472288 + 14.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000398362472288[0m ×2 + 14.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057032303289 + 14.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057032303289[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000424275338918 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000424275338918[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000267876821334 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000267876821334[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000238118366062 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000238118366062[0m ×2 + 14.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000344633349549 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000344633349549[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000452601668850 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000452601668850[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000455967020826 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000455967020826[0m ×2 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069652512384 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069652512384[0m ×2 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000456864081686 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000456864081686[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059998683937 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059998683937[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000404761780830 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000404761780830[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332913941212 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332913941212[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000715281789926 + 14.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000715281789926[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274443505773 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274443505773[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000313537018102 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000313537018102[0m ×2 + 14.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000065773563786 + 14.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000065773563786[0m ×2 + 14.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000165350397262 + 14.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000165350397262[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000256245755846 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000256245755846[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122551775697 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122551775697[0m ×2 + 14.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000227669715457 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000227669715457[0m ×2 + 14.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000330506387045 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000330506387045[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000326589314789 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000326589314789[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000169531883348 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000169531883348[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000289165332305 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000289165332305[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016788528903 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016788528903[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000255420456411 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000255420456411[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000176790488385 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000176790488385[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031741065311 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031741065311[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000325247383823 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000325247383823[0m ×2 + 14.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000522240617387 + 14.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000522240617387[0m ×2 + 14.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000352892528448 + 14.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000352892528448[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000044979096875 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000044979096875[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000711938777425 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000711938777425[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000218240188628 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000218240188628[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183507407713 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183507407713[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046345272830 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046345272830[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000177342774863 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000177342774863[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056484655096 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056484655096[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120867368647 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120867368647[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011222535950 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011222535950[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056122961781 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056122961781[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009129817752 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009129817752[0m ×2 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000589869321430 + 14.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000589869321430[0m ×2 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000276395205002 + 14.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000276395205002[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000477890897649 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000477890897649[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033797400836 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033797400836[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049017231626 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049017231626[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018829531690 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018829531690[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000220719838287 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000170620968401 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000220719838287[0m ×2 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000170620968401[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024153642884 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024153642884[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003505957883 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003505957883[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045026154275 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045026154275[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035847558109 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035847558109[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000544716540824 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000544716540824[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008398707647 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008398707647[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048683122832 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048683122832[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001451934187 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001451934187[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019657872278 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019657872278[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000206957531109 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000206957531109[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000446038605166 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000446038605166[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000276422084273 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000276422084273[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000166787007029 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000166787007029[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135965755245 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000135965755245[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084847963758 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084847963758[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000044399261795 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000044399261795[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006900954430 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006900954430[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000260511954106 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000260511954106[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000108584370648 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000108584370648[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092167074586 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092167074586[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066760260551 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066760260551[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064019407499 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064019407499[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034703417912 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034703417912[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032966107624 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032966107624[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332644229405 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332644229405[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000261332489453 + 14.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000261332489453[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000351034840993 + 14.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000351034840993[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000431944476514 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000431944476514[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000244254160518 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000244254160518[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000282526352331 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000282526352331[0m ×2 + 14.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000078088769558 + 14.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000078088769558[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041765222202 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041765222202[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000525081243 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000525081243[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000253277489187 + 14.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000253277489187[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000143770240046 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000143770240046[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092658547993 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092658547993[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097718701743 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097718701743[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000682688689020 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000682688689020[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084409185199 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084409185199[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138478047967 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138478047967[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000516094338474 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000516094338474[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000408782175545 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000408782175545[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275394691995 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275394691995[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000231403269321 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000231403269321[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051756735943 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051756735943[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082873916939 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082873916939[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000155417143228 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000155417143228[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021324252071 + 14.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021324252071[0m ×2 + 14.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005635737348 + 14.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005635737348[0m ×2 + 14.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012649407235 + 14.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012649407235[0m ×2 + 14.68sWARNcontroller_managerOverrun might occur, Total time : 2648.378 us (Expected < 1666.667 us) --> Read time : 192.464 us, Update time : 68.002 us, Write time : 2387.912 us + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159492 ms (missed cycles : 2). + 14.68sWARNros2_control_nodeOverrun might occur, Total time : 2648.378 us (Expected < 1666.667 us) --> Read time : 192.464 us, Update time : 68.002 us, Write time : 2387.912 us[0m ×2 + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159492 ms (missed cycles : 2).[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022594164804 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022594164804[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172174813154 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172174813154[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065178053120 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065178053120[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070283019481 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070283019481[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043807509083 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043807509083[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047064251674 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047064251674[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033904774078 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033904774078[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000320125220400 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000320125220400[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000270854235295 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000270854235295[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135328185188 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135328185188[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032193903747 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032193903747[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118700589967 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118700589967[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017617911820 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017617911820[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037943261148 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037943261148[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013528402264 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013528402264[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004983196360 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004983196360[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021099749075 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021099749075[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000325406481979 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000325406481979[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113836665694 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113836665694[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000128003327338 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000128003327338[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029421006615 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029421006615[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034030988803 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034030988803[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015026074200 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015026074200[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041846497649 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041846497649[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000316570550 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000316570550[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002468350917 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002468350917[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000306061266956 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000306061266956[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000258107699066 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000258107699066[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000050344565966 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000050344565966[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038751631851 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038751631851[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010637055683 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010637055683[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118957432944 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118957432944[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088198327967 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088198327967[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000264533272397 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000264533272397[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290573871576 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290573871576[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021475369016 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021475369016[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037174852049 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037174852049[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000405298022228 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000405298022228[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000343729939228 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000343729939228[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126343828621 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126343828621[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000378959108435 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000378959108435[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142617031563 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142617031563[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016320108196 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016320108196[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046667090970 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046667090970[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005655753453 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005655753453[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046078677510 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046078677510[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018698508213 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018698508213[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068707601346 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068707601346[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001680028876 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001680028876[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079538291523 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079538291523[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018968759338 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018968759338[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081861048056 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081861048056[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056027620570 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056027620570[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106226077421 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106226077421[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000197200862267 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000197200862267[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085018005157 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085018005157[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015380476691 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015380476691[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011880519718 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011880519718[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008616871811 ×2 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008616871811[0m ×4 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006448755561 ×2 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006448755561[0m ×4 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003842643617 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003842643617[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002213420509 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002213420509[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001929872380 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001929872380[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000481497670 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000481497670[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000322771951 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000322771951[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001121348716 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001121348716[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001437388381 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001437388381[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001715414277 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001715414277[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001742838590 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001742838590[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001627550562 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001627550562[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001679241578 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001679241578[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001562048980 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001562048980[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001577376936 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001577376936[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001157113664 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001157113664[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000908367657 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000908367657[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000707091341 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000707091341[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000761434245 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000761434245[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000548120928 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000548120928[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000564066437 + 15.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000564066437[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000410794014 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000410794014[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000307408209 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000307408209[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000208496012 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000208496012[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000217178217 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000217178217[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156832706 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156832706[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004177581964 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004177581964[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000120854713 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000120854713[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003319725820 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003319725820[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003318193556 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003318193556[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002636145143 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002636145143[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002635314470 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002635314470[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002092481024 ×2 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002092481024[0m ×4 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001319824691 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001319824691[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001318282486 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001318282486[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001046366630 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001046366630[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000831239574 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000831239574[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000830403707 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000830403707[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000659346801 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000659346801[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000659101879 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000659101879[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000522977217 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000522977217[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000522905457 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000522905457[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000415291429 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000415291429[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000415046262 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000415046262[0m ×2 + 15.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000329412326 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000329412326[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000206791747 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000206791747[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000206658941 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000206658941[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000163970580 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000163970580[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000129981585 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000129981585[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000129960528 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000129960528[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000137105424 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000137105424[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000137182558 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000137182558[0m ×2 + 15.44sINFOjoint_trajectory_controllerAccepted new action goal ×1206 + 15.44sINFOros2_control_nodeAccepted new action goal[0m ×2412 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308353 ms (missed cycles : 5). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308353 ms (missed cycles : 5).[0m ×2 + 15.71sWARNcontroller_managerOverrun might occur, Total time : 11606.373 us (Expected < 1666.667 us) --> Read time : 143.653 us, Update time : 11030.040 us, Write time : 432.680 us + 15.71sWARNros2_control_nodeOverrun might occur, Total time : 11606.373 us (Expected < 1666.667 us) --> Read time : 143.653 us, Update time : 11030.040 us, Write time : 432.680 us[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674666 ms (missed cycles : 3). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674666 ms (missed cycles : 3).[0m ×2 + 16.78sWARNcontroller_managerOverrun might occur, Total time : 3186.609 us (Expected < 1666.667 us) --> Read time : 217.695 us, Update time : 89.872 us, Write time : 2879.042 us + 16.78sWARNros2_control_nodeOverrun might occur, Total time : 3186.609 us (Expected < 1666.667 us) --> Read time : 217.695 us, Update time : 89.872 us, Write time : 2879.042 us[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302015 ms (missed cycles : 3). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302015 ms (missed cycles : 3).[0m ×2 + 17.86sWARNcontroller_managerOverrun might occur, Total time : 2641.977 us (Expected < 1666.667 us) --> Read time : 181.934 us, Update time : 2069.195 us, Write time : 390.848 us + 17.86sWARNros2_control_nodeOverrun might occur, Total time : 2641.977 us (Expected < 1666.667 us) --> Read time : 181.934 us, Update time : 2069.195 us, Write time : 390.848 us[0m ×2 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096964 ms (missed cycles : 3). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096964 ms (missed cycles : 3).[0m ×2 + 18.93sWARNcontroller_managerOverrun might occur, Total time : 1813.769 us (Expected < 1666.667 us) --> Read time : 132.823 us, Update time : 1353.509 us, Write time : 327.437 us + 18.93sWARNros2_control_nodeOverrun might occur, Total time : 1813.769 us (Expected < 1666.667 us) --> Read time : 132.823 us, Update time : 1353.509 us, Write time : 327.437 us[0m ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795019 ms (missed cycles : 2). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795019 ms (missed cycles : 2).[0m ×2 + 20.07sWARNcontroller_managerOverrun might occur, Total time : 5401.697 us (Expected < 1666.667 us) --> Read time : 166.193 us, Update time : 96.552 us, Write time : 5138.952 us + 20.07sWARNros2_control_nodeOverrun might occur, Total time : 5401.697 us (Expected < 1666.667 us) --> Read time : 166.193 us, Update time : 96.552 us, Write time : 5138.952 us[0m ×2 + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730313 ms (missed cycles : 2). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730313 ms (missed cycles : 2).[0m ×2 + 21.20sWARNcontroller_managerOverrun might occur, Total time : 3726.610 us (Expected < 1666.667 us) --> Read time : 96.512 us, Update time : 3291.461 us, Write time : 338.637 us + 21.20sWARNros2_control_nodeOverrun might occur, Total time : 3726.610 us (Expected < 1666.667 us) --> Read time : 96.512 us, Update time : 3291.461 us, Write time : 338.637 us[0m ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652410 ms (missed cycles : 2). + 21.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652410 ms (missed cycles : 2).[0m ×2 + 22.33sWARNcontroller_managerOverrun might occur, Total time : 1992.483 us (Expected < 1666.667 us) --> Read time : 112.952 us, Update time : 1675.166 us, Write time : 204.365 us + 22.33sWARNros2_control_nodeOverrun might occur, Total time : 1992.483 us (Expected < 1666.667 us) --> Read time : 112.952 us, Update time : 1675.166 us, Write time : 204.365 us[0m ×2 + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631712 ms (missed cycles : 3). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631712 ms (missed cycles : 3).[0m ×2 + 23.33sWARNcontroller_managerOverrun might occur, Total time : 3729.512 us (Expected < 1666.667 us) --> Read time : 79.622 us, Update time : 3275.182 us, Write time : 374.708 us + 23.33sWARNros2_control_nodeOverrun might occur, Total time : 3729.512 us (Expected < 1666.667 us) --> Read time : 79.622 us, Update time : 3275.182 us, Write time : 374.708 us[0m ×2 + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018803 ms (missed cycles : 3). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018803 ms (missed cycles : 3).[0m ×2 + 24.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780780399.55339789 seconds ×3 + 24.55sINFOjoint_trajectory_controllerGoal reached, success! + 24.55sWARNcontroller_managerOverrun might occur, Total time : 1832.289 us (Expected < 1666.667 us) --> Read time : 124.882 us, Update time : 1361.449 us, Write time : 345.958 us + 24.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 24.56sWARNros2_control_nodeOverrun might occur, Total time : 1832.289 us (Expected < 1666.667 us) --> Read time : 124.882 us, Update time : 1361.449 us, Write time : 345.958 us[0m ×2 + 24.79sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780780400.13264632 seconds. ×3 + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.284257 ms (missed cycles : 7). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.284257 ms (missed cycles : 7).[0m ×2 + 24.95sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 24.96sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 24.97sINFOros2_control_node[2026-06-06 21:13:20.314] [info] Received new action goal ×2 + 24.97sINFOros2_control_node[2026-06-06 21:13:20.314] [info] Accepted new action goal ×2 + 25.06sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 25.06sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 25.56sWARNcontroller_managerOverrun might occur, Total time : 2522.105 us (Expected < 1666.667 us) --> Read time : 112.282 us, Update time : 2054.995 us, Write time : 354.828 us + 25.56sWARNros2_control_nodeOverrun might occur, Total time : 2522.105 us (Expected < 1666.667 us) --> Read time : 112.282 us, Update time : 2054.995 us, Write time : 354.828 us[0m ×2 + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973812 ms (missed cycles : 3). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973812 ms (missed cycles : 3).[0m ×2 + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438357 ms (missed cycles : 2). + 26.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438357 ms (missed cycles : 2).[0m ×2 + 27.43sWARNcontroller_managerOverrun might occur, Total time : 3634.799 us (Expected < 1666.667 us) --> Read time : 97.462 us, Update time : 3166.769 us, Write time : 370.568 us + 27.43sWARNros2_control_nodeOverrun might occur, Total time : 3634.799 us (Expected < 1666.667 us) --> Read time : 97.462 us, Update time : 3166.769 us, Write time : 370.568 us[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 3 errors · 93 warnings · 131 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00201965 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 0.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.18sINFOros2_control_node[2026-06-06 21:11:04.331] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-06-06 21:11:04.331] [info] Accepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761148 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761148 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_node[2026-06-06 21:11:04.773] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-06-06 21:11:04.773] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152444 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152444 ms (missed cycles : 5).[0m ×2 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 3459.625 us (Expected < 1666.667 us) --> Read time : 138.783 us, Update time : 3033.585 us, Write time : 287.257 us + 1.73sWARNros2_control_nodeOverrun might occur, Total time : 3459.625 us (Expected < 1666.667 us) --> Read time : 138.783 us, Update time : 3033.585 us, Write time : 287.257 us[0m ×2 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.41sINFOros2_control_node[2026-06-06 21:11:06.559] [info] Received new action goal ×2 + 2.41sINFOros2_control_node[2026-06-06 21:11:06.559] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802435 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802435 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_node[2026-06-06 21:11:06.862] [info] Got request to cancel active goal. ×2 + 2.71sINFOros2_control_node[2026-06-06 21:11:06.862] [info] Canceling active goal... ×2 + 2.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780780266.87662315 seconds ×3 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780780267.48830652 seconds. ×3 + 3.49sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.49sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.49sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.49sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801022 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801022 ms (missed cycles : 3).[0m ×2 + 3.52sINFOros2_control_node[2026-06-06 21:11:07.669] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-06 21:11:07.669] [info] Accepted new action goal ×2 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 5316.045 us (Expected < 1666.667 us) --> Read time : 142.503 us, Update time : 4736.813 us, Write time : 436.729 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 5316.045 us (Expected < 1666.667 us) --> Read time : 142.503 us, Update time : 4736.813 us, Write time : 436.729 us[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729405 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729405 ms (missed cycles : 3).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 6080.232 us (Expected < 1666.667 us) --> Read time : 95.012 us, Update time : 5620.942 us, Write time : 364.278 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 6080.232 us (Expected < 1666.667 us) --> Read time : 95.012 us, Update time : 5620.942 us, Write time : 364.278 us[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999830 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999830 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_node[2026-06-06 21:11:10.039] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-06-06 21:11:10.039] [info] Accepted new action goal ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912263 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912263 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun might occur, Total time : 4191.142 us (Expected < 1666.667 us) --> Read time : 75.102 us, Update time : 3825.083 us, Write time : 290.957 us + 6.60sWARNros2_control_nodeOverrun might occur, Total time : 4191.142 us (Expected < 1666.667 us) --> Read time : 75.102 us, Update time : 3825.083 us, Write time : 290.957 us[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.394080 ms (missed cycles : 6). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.394080 ms (missed cycles : 6).[0m ×2 + 7.89sWARNcontroller_managerOverrun might occur, Total time : 7567.934 us (Expected < 1666.667 us) --> Read time : 104.852 us, Update time : 7074.123 us, Write time : 388.959 us + 7.89sWARNros2_control_nodeOverrun might occur, Total time : 7567.934 us (Expected < 1666.667 us) --> Read time : 104.852 us, Update time : 7074.123 us, Write time : 388.959 us[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755460 ms (missed cycles : 3). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755460 ms (missed cycles : 3).[0m ×2 + 8.91sWARNcontroller_managerOverrun might occur, Total time : 2480.993 us (Expected < 1666.667 us) --> Read time : 92.602 us, Update time : 66.191 us, Write time : 2322.200 us + 8.91sWARNros2_control_nodeOverrun might occur, Total time : 2480.993 us (Expected < 1666.667 us) --> Read time : 92.602 us, Update time : 66.191 us, Write time : 2322.200 us[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.715655 ms (missed cycles : 7). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.715655 ms (missed cycles : 7).[0m ×2 + 10.40sWARNcontroller_managerOverrun might occur, Total time : 4024.417 us (Expected < 1666.667 us) --> Read time : 111.852 us, Update time : 3545.387 us, Write time : 367.178 us + 10.41sWARNros2_control_nodeOverrun might occur, Total time : 4024.417 us (Expected < 1666.667 us) --> Read time : 111.852 us, Update time : 3545.387 us, Write time : 367.178 us[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147222 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147222 ms (missed cycles : 2).[0m ×2 + 11.76sWARNcontroller_managerOverrun might occur, Total time : 3002.655 us (Expected < 1666.667 us) --> Read time : 79.472 us, Update time : 2708.939 us, Write time : 214.244 us + 11.76sWARNros2_control_nodeOverrun might occur, Total time : 3002.655 us (Expected < 1666.667 us) --> Read time : 79.472 us, Update time : 2708.939 us, Write time : 214.244 us[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570971 ms (missed cycles : 4). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570971 ms (missed cycles : 4).[0m ×2 + 12.78sWARNcontroller_managerOverrun might occur, Total time : 3641.869 us (Expected < 1666.667 us) --> Read time : 156.094 us, Update time : 45.261 us, Write time : 3440.514 us + 12.78sWARNros2_control_nodeOverrun might occur, Total time : 3641.869 us (Expected < 1666.667 us) --> Read time : 156.094 us, Update time : 45.261 us, Write time : 3440.514 us[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166068 ms (missed cycles : 5). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166068 ms (missed cycles : 5).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235367 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235367 ms (missed cycles : 2).[0m ×2 + 14.45sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780780278.60363650 seconds ×3 + 14.60sWARNcontroller_managerOverrun might occur, Total time : 3484.135 us (Expected < 1666.667 us) --> Read time : 251.865 us, Update time : 2664.028 us, Write time : 568.242 us + 14.60sWARNros2_control_nodeOverrun might occur, Total time : 3484.135 us (Expected < 1666.667 us) --> Read time : 251.865 us, Update time : 2664.028 us, Write time : 568.242 us[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7).[0m ×2 + 15.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780780279.23112988 seconds. ×3 + 15.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 15.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 15.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.14sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.16sWARNcontroller_managerOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us + 15.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.16sWARNros2_control_nodeOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us[0m ×2 + 15.16sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780279.31126618 seconds ×3 + 15.71sWARNcontroller_managerOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us + 15.71sWARNros2_control_nodeOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us[0m ×2 + 15.71sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780279.86361384 seconds. ×3 + 15.81sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 15.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.83sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Received new action goal ×2 + 15.83sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Accepted new action goal ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3).[0m ×2 + 17.21sWARNcontroller_managerOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us + 17.21sWARNros2_control_nodeOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us[0m ×2 + 17.83sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780281.98375535 seconds ×3 + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 93 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1973.803 us (Expected < 1666.667 us) --> Read time : 157.113 us, Update time : 111.563 us, Write time : 1705.127 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1973.803 us (Expected < 1666.667 us) --> Read time : 157.113 us, Update time : 111.563 us, Write time : 1705.127 us[0m ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678987 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678987 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_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 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.88sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.88sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.88sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sWARNcontroller_managerOverrun might occur, Total time : 2117.696 us (Expected < 1666.667 us) --> Read time : 188.554 us, Update time : 1519.693 us, Write time : 409.449 us + 1.17sWARNros2_control_nodeOverrun might occur, Total time : 2117.696 us (Expected < 1666.667 us) --> Read time : 188.554 us, Update time : 1519.693 us, Write time : 409.449 us[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914777 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914777 ms (missed cycles : 3).[0m ×2 + 1.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.82sINFOros2_control_node[2026-06-06 21:12:14.485] [info] Received new action goal ×2 + 1.82sINFOros2_control_node[2026-06-06 21:12:14.485] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 1729.678 us (Expected < 1666.667 us) --> Read time : 177.984 us, Update time : 1269.158 us, Write time : 282.536 us + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902265 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 1729.678 us (Expected < 1666.667 us) --> Read time : 177.984 us, Update time : 1269.158 us, Write time : 282.536 us[0m ×2 + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902265 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780780335.64162755 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.69sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780780336.35252666 seconds. ×3 + 3.72sWARNcontroller_managerOverrun might occur, Total time : 9447.127 us (Expected < 1666.667 us) --> Read time : 100.513 us, Update time : 33.951 us, Write time : 9312.663 us + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.908370 ms (missed cycles : 6). + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 9447.127 us (Expected < 1666.667 us) --> Read time : 100.513 us, Update time : 33.951 us, Write time : 9312.663 us[0m ×2 + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.908370 ms (missed cycles : 6).[0m ×2 + 4.06sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.06sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857809 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857809 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.95sINFOros2_control_node[2026-06-06 21:12:17.618] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-06-06 21:12:17.618] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616757 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616757 ms (missed cycles : 4).[0m ×2 + 5.91sWARNcontroller_managerOverrun might occur, Total time : 2243.639 us (Expected < 1666.667 us) --> Read time : 91.462 us, Update time : 1894.621 us, Write time : 257.556 us + 5.91sWARNros2_control_nodeOverrun might occur, Total time : 2243.639 us (Expected < 1666.667 us) --> Read time : 91.462 us, Update time : 1894.621 us, Write time : 257.556 us[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.900969 ms (missed cycles : 6). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.900969 ms (missed cycles : 6).[0m ×2 + 7.18sWARNcontroller_managerOverrun might occur, Total time : 1836.741 us (Expected < 1666.667 us) --> Read time : 479.771 us, Update time : 807.438 us, Write time : 549.532 us + 7.18sWARNros2_control_nodeOverrun might occur, Total time : 1836.741 us (Expected < 1666.667 us) --> Read time : 479.771 us, Update time : 807.438 us, Write time : 549.532 us[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248513 ms (missed cycles : 5). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248513 ms (missed cycles : 5).[0m ×2 + 8.55sWARNcontroller_managerOverrun might occur, Total time : 1820.980 us (Expected < 1666.667 us) --> Read time : 168.484 us, Update time : 1372.120 us, Write time : 280.376 us + 8.56sWARNros2_control_nodeOverrun might occur, Total time : 1820.980 us (Expected < 1666.667 us) --> Read time : 168.484 us, Update time : 1372.120 us, Write time : 280.376 us[0m ×2 + 8.65sINFOobjective_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 + 8.65sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.65sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.65sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.65sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980045 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980045 ms (missed cycles : 2).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472924 ms (missed cycles : 4). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472924 ms (missed cycles : 4).[0m ×2 + 9.90sWARNcontroller_managerOverrun might occur, Total time : 1686.376 us (Expected < 1666.667 us) --> Read time : 149.933 us, Update time : 1292.918 us, Write time : 243.525 us + 9.90sWARNros2_control_nodeOverrun might occur, Total time : 1686.376 us (Expected < 1666.667 us) --> Read time : 149.933 us, Update time : 1292.918 us, Write time : 243.525 us[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806631 ms (missed cycles : 3). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806631 ms (missed cycles : 3).[0m ×2 + 10.95sWARNcontroller_managerOverrun might occur, Total time : 2135.427 us (Expected < 1666.667 us) --> Read time : 140.094 us, Update time : 1710.087 us, Write time : 285.246 us + 10.95sWARNros2_control_nodeOverrun might occur, Total time : 2135.427 us (Expected < 1666.667 us) --> Read time : 140.094 us, Update time : 1710.087 us, Write time : 285.246 us[0m ×2 + 11.00sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 11.01sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.02sINFOros2_control_node[2026-06-06 21:12:23.687] [info] Received new action goal ×2 + 11.02sINFOros2_control_node[2026-06-06 21:12:23.687] [info] Accepted new action goal ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250355 ms (missed cycles : 5). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250355 ms (missed cycles : 5).[0m ×2 + 11.96sWARNcontroller_managerOverrun might occur, Total time : 5379.767 us (Expected < 1666.667 us) --> Read time : 99.522 us, Update time : 4907.157 us, Write time : 373.088 us + 11.96sWARNros2_control_nodeOverrun might occur, Total time : 5379.767 us (Expected < 1666.667 us) --> Read time : 99.522 us, Update time : 4907.157 us, Write time : 373.088 us[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862040 ms (missed cycles : 3). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862040 ms (missed cycles : 3).[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100643 ms (missed cycles : 5). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100643 ms (missed cycles : 5).[0m ×2 + 14.64sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780780347.30287480 seconds ×3 + 14.75sWARNcontroller_managerOverrun might occur, Total time : 5273.276 us (Expected < 1666.667 us) --> Read time : 139.834 us, Update time : 4746.354 us, Write time : 387.088 us + 14.76sWARNros2_control_nodeOverrun might occur, Total time : 5273.276 us (Expected < 1666.667 us) --> Read time : 139.834 us, Update time : 4746.354 us, Write time : 387.088 us[0m ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681870 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681870 ms (missed cycles : 2).[0m ×2 + 15.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780780347.91289663 seconds. ×3 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 15.40sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.40sINFOros2_control_node[2026-06-06 21:12:28.066] [info] Received new action goal ×2 + 15.40sINFOros2_control_node[2026-06-06 21:12:28.066] [info] Accepted new action goal ×2 + 15.68sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 15.68sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949970 ms (missed cycles : 3). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949970 ms (missed cycles : 3).[0m ×2 + 16.67sINFOobjective_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 + 16.67sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.00sWARNcontroller_managerOverrun might occur, Total time : 2605.077 us (Expected < 1666.667 us) --> Read time : 143.093 us, Update time : 2131.717 us, Write time : 330.267 us + 17.00sWARNros2_control_nodeOverrun might occur, Total time : 2605.077 us (Expected < 1666.667 us) --> Read time : 143.093 us, Update time : 2131.717 us, Write time : 330.267 us[0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407287 ms (missed cycles : 5). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407287 ms (missed cycles : 5).[0m ×2 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129431 ms (missed cycles : 2). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129431 ms (missed cycles : 2).[0m ×2 + 18.08sWARNcontroller_managerOverrun might occur, Total time : 4806.196 us (Expected < 1666.667 us) --> Read time : 109.122 us, Update time : 4317.985 us, Write time : 379.089 us + 18.08sWARNros2_control_nodeOverrun might occur, Total time : 4806.196 us (Expected < 1666.667 us) --> Read time : 109.122 us, Update time : 4317.985 us, Write time : 379.089 us[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 59 errors · 59 warnings · 292 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Got request to cancel active goal. ×2 + 0.11sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Canceling active goal... ×2 + 0.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780516.85519671 seconds ×3 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us + 0.19sWARNros2_control_nodeOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780517.40183973 seconds. ×3 + 0.69sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 0.69sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8).[0m ×2 + 1.32sWARNcontroller_managerOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us[0m ×2 + 1.70sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures" + 1.71sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures"[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780518.48198390 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3).[0m ×2 + 2.20sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.21sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780519.04297495 seconds. ×3 + 2.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.30sINFOobjective_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 + 2.30sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.30sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780519.04443860 seconds ×3 + 2.68sWARNcontroller_managerOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us + 2.68sWARNros2_control_nodeOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us[0m ×2 + 2.71sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.71sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 2.71sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.71sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780519.59829521 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780519.59873104 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5).[0m ×2 + 3.21sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 3.21sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780780520.29801512 seconds. ×3 + 3.80sWARNcontroller_managerOverrun might occur, Total time : 7795.538 us (Expected < 1666.667 us) --> Read time : 96.372 us, Update time : 7102.704 us, Write time : 596.462 us + 3.80sWARNros2_control_nodeOverrun might occur, Total time : 7795.538 us (Expected < 1666.667 us) --> Read time : 96.372 us, Update time : 7102.704 us, Write time : 596.462 us[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857807 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857807 ms (missed cycles : 5).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780780521.39817142 seconds ×3 + 4.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632521 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632521 ms (missed cycles : 3).[0m ×2 + 5.99sWARNcontroller_managerOverrun might occur, Total time : 3653.870 us (Expected < 1666.667 us) --> Read time : 95.642 us, Update time : 3196.270 us, Write time : 361.958 us + 5.99sWARNros2_control_nodeOverrun might occur, Total time : 3653.870 us (Expected < 1666.667 us) --> Read time : 95.642 us, Update time : 3196.270 us, Write time : 361.958 us[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741341 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741341 ms (missed cycles : 4).[0m ×2 + 7.02sWARNcontroller_managerOverrun might occur, Total time : 2711.448 us (Expected < 1666.667 us) --> Read time : 139.643 us, Update time : 1999.573 us, Write time : 572.232 us + 7.02sWARNros2_control_nodeOverrun might occur, Total time : 2711.448 us (Expected < 1666.667 us) --> Read time : 139.643 us, Update time : 1999.573 us, Write time : 572.232 us[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408998 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408998 ms (missed cycles : 5).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.076513 ms (missed cycles : 7). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.076513 ms (missed cycles : 7).[0m ×2 + 8.55sWARNcontroller_managerOverrun might occur, Total time : 5380.568 us (Expected < 1666.667 us) --> Read time : 158.613 us, Update time : 4835.226 us, Write time : 386.729 us + 8.55sWARNros2_control_nodeOverrun might occur, Total time : 5380.568 us (Expected < 1666.667 us) --> Read time : 158.613 us, Update time : 4835.226 us, Write time : 386.729 us[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238829 ms (missed cycles : 7). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238829 ms (missed cycles : 7).[0m ×2 + 9.71sWARNcontroller_managerOverrun might occur, Total time : 5406.019 us (Expected < 1666.667 us) --> Read time : 95.102 us, Update time : 4877.837 us, Write time : 433.080 us + 9.71sWARNros2_control_nodeOverrun might occur, Total time : 5406.019 us (Expected < 1666.667 us) --> Read time : 95.102 us, Update time : 4877.837 us, Write time : 433.080 us[0m ×2 + 10.16sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] ×2 + 10.17sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] ×2 + 10.18sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] ×2 + 10.20sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] ×2 + 10.20sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.21sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] ×2 + 10.21sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.23sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.24sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.25sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.25sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.26sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.27sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.28sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.28sINFOcontroller_managerShutdown request received.... + 10.28sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.28sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.28sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.28sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.28sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.28sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.28sINFOfoxglove_bridgeShutting down foxglove_bridge[0m ×2 + 10.28sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.28sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.28sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.28sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.28sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.28sINFOcontroller_managerShutting down the controller manager. + 10.28sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.28sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.28sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.28sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.28sINFOui_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 + 10.28sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.28sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.28sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.28sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.29sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.29sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.29sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.29sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.29sINFOfoxglove_bridgeShutdown complete[0m ×2 + 10.29sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.29sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.29sERRORmove_groupStack trace (most recent call last) in thread 10098: ×2 + 10.29sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.29sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f09f5693a63, in __clone ×2 + 10.29sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f09f5606aa3, in ×2 + 10.29sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f09f5898db3, in ×2 + 10.29sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7f09f5eed18a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.29sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f09f5c0b4d0, in rclcpp::Rate::sleep() ×2 + 10.29sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.29sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.29sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.29sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.29sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f09f5b5ea88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.29sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f09f5b23a71, in ×2 + 10.29sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f09f5867390, in __cxa_throw ×2 + 10.29sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.29sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.29sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.29sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f09f5851a54, in std::terminate() ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.29sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.29sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.29sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.29sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.29sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.29sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.29sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.29sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f09f58670d9, in ×2 + 10.29sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f09f5851ff4, in ×2 + 10.29sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f09f55928fe, in abort ×2 + 10.29sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f09f55af27d, in raise ×2 + 10.29sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f09f5608b2c, in pthread_kill ×2 + 10.29sERRORmove_groupAborted (Signal sent by tkill() 9743 0) ×2 + 10.30sERRORmove_group-9process has died [pid 9743, 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_inz3d9um --params-file /tmp/launch_params_l9zkry0y --params-file /tmp/launch_params_4w7ruvnj --params-file /tmp/launch_params__ury_c_i --params-file /tmp/launch_params__wtl7bba --params-file /tmp/launch_params_f1oqtnbv --params-file /tmp/launch_params_dm82kay8 --params-file /tmp/launch_params_g2p2njl2 --params-file /tmp/launch_params_g1s88kax']. ×2 + 10.32sINFOobjective_server_node[0;m[2026-06-06 21:15:27.062] [moveit_pro_license] [info] ×2 + 10.32sINFOobjective_server_node************************************************* ×4 + 10.32sINFOobjective_server_node* MoveIt Pro License ×2 + 10.32sINFOobjective_server_node* Application has successfully terminated ×2 + 10.42sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.44sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.44sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564ea7afc6a4, in _start ×2 + 10.44sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa93a8d028a, in __libc_start_main ×2 + 10.44sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa93a8d01d0, in ×2 + 10.44sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa93a8edbbd, in exit ×2 + 10.44sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa93a8eda75, in ×2 + 10.44sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fa93adbf4a2, in spdlog::details::registry::~registry() ×2 + 10.44sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fa93adca69d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 10.44sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fa93adc4965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.44sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564ea7b03315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.44sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564ea7b025a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.44sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564ea7afeb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.44sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564ea7afcd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.44sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa93b442454, in rclcpp::Node::~Node() ×2 + 10.44sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa93b3fd515, in ×2 + 10.44sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa93b440d20, in ×2 + 10.44sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa93b440c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.44sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa93b3fd5d9, in ×2 + 10.44sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa93b402161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.44sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fa8ea828a88]) ×2 + 10.49sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.49sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.50sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.10sERRORobjective_server_node_main-14process has died [pid 9748, exit code -11, 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_e15f93_m --params-file /tmp/launch_params_hce9omf_ --params-file /tmp/launch_params_vgqqn0mf --params-file /tmp/launch_params_98ysisp7 --params-file /tmp/launch_params_j_f6eh46 --params-file /tmp/launch_params_2fdx1xlb']. ×2 + 11.10sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.10sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.21sINFOweb_video_server-20process has finished cleanly [pid 9878] ×2 + 11.22sINFOtf2_web_republisher_node-19process has finished cleanly [pid 9771] ×2 + 11.22sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system ×2 + 11.28sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9747] ×2 + 11.28sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9746] ×2 + 11.32sINFOexecute_objective_bridge-16process has finished cleanly [pid 9750] ×2 + 11.33sINFOwaypoint_manager_node-11process has finished cleanly [pid 9745] ×2 + 11.33sERRORui_teleop_bridge-17process has died [pid 9751, 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_mst880rt']. ×2 + 11.36sINFOparameter_manager_node-10process has finished cleanly [pid 9744] ×2 + 12.29sINFOfoxglove_bridge-18process has finished cleanly [pid 9770] ×2 + 12.29sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system ×2 + 12.39sINFOcomponent_container_mt-15process has finished cleanly [pid 9749] ×2 + 13.02sINFOros2_control_node-1process has finished cleanly [pid 9717] ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 3 errors · 78 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708875 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708875 ms (missed cycles : 4).[0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 6998.122 us (Expected < 1666.667 us) --> Read time : 160.913 us, Update time : 6448.121 us, Write time : 389.088 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 6998.122 us (Expected < 1666.667 us) --> Read time : 160.913 us, Update time : 6448.121 us, Write time : 389.088 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936144 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936144 ms (missed cycles : 3).[0m ×2 + 1.51sWARNcontroller_managerOverrun might occur, Total time : 1736.398 us (Expected < 1666.667 us) --> Read time : 147.254 us, Update time : 1269.147 us, Write time : 319.997 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 1736.398 us (Expected < 1666.667 us) --> Read time : 147.254 us, Update time : 1269.147 us, Write time : 319.997 us[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.698082 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.698082 ms (missed cycles : 7).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780780461.64111042 seconds ×3 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883311 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883311 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun might occur, Total time : 2679.699 us (Expected < 1666.667 us) --> Read time : 165.024 us, Update time : 907.660 us, Write time : 1607.015 us + 3.16sWARNros2_control_nodeOverrun might occur, Total time : 2679.699 us (Expected < 1666.667 us) --> Read time : 165.024 us, Update time : 907.660 us, Write time : 1607.015 us[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780780462.39766240 seconds. ×3 + 3.26sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.26sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.26sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.26sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.26sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution"[0m ×2 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.43sINFOros2_control_node[2026-06-06 21:14:22.633] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-06-06 21:14:22.633] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225083 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225083 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187544 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187544 ms (missed cycles : 5).[0m ×2 + 5.78sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures" + 5.78sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures"[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126173 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126173 ms (missed cycles : 3).[0m ×2 + 6.28sINFOfoxglove_bridgeRemoving channel 84 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.28sINFOfoxglove_bridgeRemoving channel 84 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 6.35sWARNcontroller_managerOverrun might occur, Total time : 5320.915 us (Expected < 1666.667 us) --> Read time : 133.172 us, Update time : 4797.694 us, Write time : 390.049 us + 6.35sWARNros2_control_nodeOverrun might occur, Total time : 5320.915 us (Expected < 1666.667 us) --> Read time : 133.172 us, Update time : 4797.694 us, Write time : 390.049 us[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714224 ms (missed cycles : 4). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714224 ms (missed cycles : 4).[0m ×2 + 7.43sWARNcontroller_managerOverrun might occur, Total time : 6692.856 us (Expected < 1666.667 us) --> Read time : 153.774 us, Update time : 6156.404 us, Write time : 382.678 us + 7.43sWARNros2_control_nodeOverrun might occur, Total time : 6692.856 us (Expected < 1666.667 us) --> Read time : 153.774 us, Update time : 6156.404 us, Write time : 382.678 us[0m ×2 + 7.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.63sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.79sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/solution" + 7.79sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/solution"[0m ×2 + 7.89sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.96sINFOobjective_server_nodeFound path in 1 iterations (0.00291207 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.05sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.08sINFOros2_control_node[2026-06-06 21:14:27.285] [info] Received new action goal ×2 + 8.08sINFOros2_control_node[2026-06-06 21:14:27.285] [info] Accepted new action goal ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316771 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316771 ms (missed cycles : 3).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690636 ms (missed cycles : 4). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690636 ms (missed cycles : 4).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7).[0m ×2 + 10.60sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Received new action goal ×2 + 10.60sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Accepted new action goal ×2 + 11.28sWARNcontroller_managerOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us + 11.28sWARNros2_control_nodeOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5).[0m ×2 + 12.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.38sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Received new action goal ×2 + 12.38sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Accepted new action goal ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3).[0m ×2 + 13.18sWARNcontroller_managerOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us + 13.18sWARNros2_control_nodeOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2).[0m ×2 + 13.65sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Got request to cancel active goal. ×2 + 13.65sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Canceling active goal... ×2 + 13.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780472.87934160 seconds ×3 + 14.31sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780473.51396203 seconds. ×3 + 14.36sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.36sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.36sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.36sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 14.47sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 14.47sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.48sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Received new action goal ×2 + 14.48sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Accepted new action goal ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6).[0m ×2 + 15.07sWARNcontroller_managerOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us + 15.07sWARNros2_control_nodeOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us[0m ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6).[0m ×2 + 16.16sWARNcontroller_managerOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us + 16.16sWARNros2_control_nodeOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us[0m ×2 + 16.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 87 warnings · 158 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881248 ms (missed cycles : 2).[0m ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 4163.871 us (Expected < 1666.667 us) --> Read time : 105.033 us, Update time : 3684.790 us, Write time : 374.048 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 4163.871 us (Expected < 1666.667 us) --> Read time : 105.033 us, Update time : 3684.790 us, Write time : 374.048 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812726 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812726 ms (missed cycles : 3).[0m ×2 + 1.08sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×3 + 1.35sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.35sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.36sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 1.37sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×3 + 1.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1780780254.55494785 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400372 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400372 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun might occur, Total time : 1747.138 us (Expected < 1666.667 us) --> Read time : 143.103 us, Update time : 1329.749 us, Write time : 274.286 us + 2.12sWARNros2_control_nodeOverrun might occur, Total time : 1747.138 us (Expected < 1666.667 us) --> Read time : 143.103 us, Update time : 1329.749 us, Write time : 274.286 us[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833949 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833949 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780780256.35601783 seconds. ×3 + 3.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 3147.919 us (Expected < 1666.667 us) --> Read time : 84.812 us, Update time : 2548.965 us, Write time : 514.142 us + 3.29sWARNros2_control_nodeOverrun might occur, Total time : 3147.919 us (Expected < 1666.667 us) --> Read time : 84.812 us, Update time : 2548.965 us, Write time : 514.142 us[0m ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.35sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.35sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.35sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.36sINFOros2_control_node[2026-06-06 21:10:56.539] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-06-06 21:10:56.539] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032078 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032078 ms (missed cycles : 4).[0m ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 4746.383 us (Expected < 1666.667 us) --> Read time : 124.742 us, Update time : 4189.322 us, Write time : 432.319 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 4746.383 us (Expected < 1666.667 us) --> Read time : 124.742 us, Update time : 4189.322 us, Write time : 432.319 us[0m ×2 + 4.89sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.18% of iterations over budget over 1:10.002 of wall time (40/21736). Below 1% is expected on a non-realtime system.[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836438 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836438 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun might occur, Total time : 3416.954 us (Expected < 1666.667 us) --> Read time : 168.983 us, Update time : 2700.839 us, Write time : 547.132 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 3416.954 us (Expected < 1666.667 us) --> Read time : 168.983 us, Update time : 2700.839 us, Write time : 547.132 us[0m ×2 + 5.87sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures" + 5.87sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures"[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978162 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978162 ms (missed cycles : 2).[0m ×2 + 6.37sINFOfoxglove_bridgeRemoving channel 72 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.37sINFOfoxglove_bridgeRemoving channel 72 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648222 ms (missed cycles : 4). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648222 ms (missed cycles : 4).[0m ×2 + 7.28sWARNcontroller_managerOverrun might occur, Total time : 2520.045 us (Expected < 1666.667 us) --> Read time : 136.853 us, Update time : 2029.575 us, Write time : 353.617 us + 7.28sWARNros2_control_nodeOverrun might occur, Total time : 2520.045 us (Expected < 1666.667 us) --> Read time : 136.853 us, Update time : 2029.575 us, Write time : 353.617 us[0m ×2 + 7.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.59sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (9e-08 s). ×2 + 7.87sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (1.2e-07 s). ×2 + 7.88sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution" + 7.88sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 7.96sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 7.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.00sINFOobjective_server_nodeFound path in 1 iterations (0.00187314 s). ×2 + 8.06sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.08sINFOobjective_server_nodeFound path in 1 iterations (0.00261755 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145750 ms (missed cycles : 2). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145750 ms (missed cycles : 2).[0m ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.26sINFOros2_control_node[2026-06-06 21:11:01.432] [info] Received new action goal ×2 + 8.26sINFOros2_control_node[2026-06-06 21:11:01.432] [info] Accepted new action goal ×2 + 8.78sWARNcontroller_managerOverrun might occur, Total time : 5339.756 us (Expected < 1666.667 us) --> Read time : 4883.346 us, Update time : 72.901 us, Write time : 383.509 us + 8.79sWARNros2_control_nodeOverrun might occur, Total time : 5339.756 us (Expected < 1666.667 us) --> Read time : 4883.346 us, Update time : 72.901 us, Write time : 383.509 us[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651653 ms (missed cycles : 5). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651653 ms (missed cycles : 5).[0m ×2 + 9.84sWARNcontroller_managerOverrun might occur, Total time : 1784.648 us (Expected < 1666.667 us) --> Read time : 131.182 us, Update time : 1417.501 us, Write time : 235.965 us + 9.85sWARNros2_control_nodeOverrun might occur, Total time : 1784.648 us (Expected < 1666.667 us) --> Read time : 131.182 us, Update time : 1417.501 us, Write time : 235.965 us[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362723 ms (missed cycles : 6). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362723 ms (missed cycles : 6).[0m ×2 + 10.98sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 10.98sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 10.98sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). ×2 + 10.98sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 10.99sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 11.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.04sINFOobjective_server_nodeFound path in 1 iterations (0.00201965 s). ×2 + 11.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 11.16sINFOros2_control_node[2026-06-06 21:11:04.331] [info] Received new action goal ×2 + 11.16sINFOros2_control_node[2026-06-06 21:11:04.331] [info] Accepted new action goal ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761148 ms (missed cycles : 3). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761148 ms (missed cycles : 3).[0m ×2 + 11.60sINFOros2_control_node[2026-06-06 21:11:04.773] [info] Received new action goal ×2 + 11.60sINFOros2_control_node[2026-06-06 21:11:04.773] [info] Accepted new action goal ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152444 ms (missed cycles : 5). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152444 ms (missed cycles : 5).[0m ×2 + 12.70sWARNcontroller_managerOverrun might occur, Total time : 3459.625 us (Expected < 1666.667 us) --> Read time : 138.783 us, Update time : 3033.585 us, Write time : 287.257 us + 12.70sWARNros2_control_nodeOverrun might occur, Total time : 3459.625 us (Expected < 1666.667 us) --> Read time : 138.783 us, Update time : 3033.585 us, Write time : 287.257 us[0m ×2 + 13.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.38sINFOros2_control_node[2026-06-06 21:11:06.559] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-06-06 21:11:06.559] [info] Accepted new action goal ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802435 ms (missed cycles : 3). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802435 ms (missed cycles : 3).[0m ×2 + 13.69sINFOros2_control_node[2026-06-06 21:11:06.862] [info] Got request to cancel active goal. ×2 + 13.69sINFOros2_control_node[2026-06-06 21:11:06.862] [info] Canceling active goal... ×2 + 13.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780780266.87662315 seconds ×3 + 14.31sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780780267.48830652 seconds. ×3 + 14.47sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.47sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.47sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.47sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 14.47sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801022 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801022 ms (missed cycles : 3).[0m ×2 + 14.49sINFOros2_control_node[2026-06-06 21:11:07.669] [info] Received new action goal ×2 + 14.49sINFOros2_control_node[2026-06-06 21:11:07.669] [info] Accepted new action goal ×2 + 14.87sWARNcontroller_managerOverrun might occur, Total time : 5316.045 us (Expected < 1666.667 us) --> Read time : 142.503 us, Update time : 4736.813 us, Write time : 436.729 us + 14.87sWARNros2_control_nodeOverrun might occur, Total time : 5316.045 us (Expected < 1666.667 us) --> Read time : 142.503 us, Update time : 4736.813 us, Write time : 436.729 us[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729405 ms (missed cycles : 3). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729405 ms (missed cycles : 3).[0m ×2 + 16.46sWARNcontroller_managerOverrun might occur, Total time : 6080.232 us (Expected < 1666.667 us) --> Read time : 95.012 us, Update time : 5620.942 us, Write time : 364.278 us + 16.46sWARNros2_control_nodeOverrun might occur, Total time : 6080.232 us (Expected < 1666.667 us) --> Read time : 95.012 us, Update time : 5620.942 us, Write time : 364.278 us[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999830 ms (missed cycles : 2). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999830 ms (missed cycles : 2).[0m ×2 + 16.86sINFOros2_control_node[2026-06-06 21:11:10.039] [info] Received new action goal ×2 + 16.86sINFOros2_control_node[2026-06-06 21:11:10.039] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 93 warnings · 181 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.03sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.04sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×14 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 1.50sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.97sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 3.57sINFOobjective_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 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.67sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.30sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.17sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927585 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927585 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun might occur, Total time : 2088.066 us (Expected < 1666.667 us) --> Read time : 139.223 us, Update time : 1541.204 us, Write time : 407.639 us + 6.53sWARNros2_control_nodeOverrun might occur, Total time : 2088.066 us (Expected < 1666.667 us) --> Read time : 139.223 us, Update time : 1541.204 us, Write time : 407.639 us[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298247 ms (missed cycles : 5). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298247 ms (missed cycles : 5).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585017 ms (missed cycles : 4). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585017 ms (missed cycles : 4).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704185 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704185 ms (missed cycles : 2).[0m ×2 + 9.70sWARNcontroller_managerOverrun might occur, Total time : 1692.127 us (Expected < 1666.667 us) --> Read time : 117.952 us, Update time : 1330.809 us, Write time : 243.366 us + 9.70sWARNros2_control_nodeOverrun might occur, Total time : 1692.127 us (Expected < 1666.667 us) --> Read time : 117.952 us, Update time : 1330.809 us, Write time : 243.366 us[0m ×2 + 9.89sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 9.90sINFOros2_control_node[2026-06-06 21:10:02.654] [info] Received new action goal ×2 + 9.90sINFOros2_control_node[2026-06-06 21:10:02.654] [info] Accepted new action goal ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796123 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796123 ms (missed cycles : 3).[0m ×2 + 11.23sWARNcontroller_managerOverrun might occur, Total time : 1700.037 us (Expected < 1666.667 us) --> Read time : 177.824 us, Update time : 39.311 us, Write time : 1482.902 us + 11.23sWARNros2_control_nodeOverrun might occur, Total time : 1700.037 us (Expected < 1666.667 us) --> Read time : 177.824 us, Update time : 39.311 us, Write time : 1482.902 us[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4).[0m ×2 + 12.99sWARNcontroller_managerOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us + 12.99sWARNros2_control_nodeOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us[0m ×2 + 13.20sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 13.20sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.22sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Received new action goal ×2 + 13.22sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Accepted new action goal ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7).[0m ×2 + 14.00sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Got request to cancel active goal. ×2 + 14.00sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Canceling active goal... ×2 + 14.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780206.78508306 seconds ×3 + 14.11sWARNcontroller_managerOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us + 14.12sWARNros2_control_nodeOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us[0m ×2 + 14.59sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780207.34712625 seconds. ×3 + 14.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780207.45726013 seconds ×3 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3).[0m ×2 + 15.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780208.09420657 seconds. ×3 + 15.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 15.36sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 15.53sWARNcontroller_managerOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us + 15.53sWARNros2_control_nodeOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5).[0m ×2 + 16.46sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 16.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.47sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Received new action goal ×2 + 16.47sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Accepted new action goal ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4).[0m ×2 + 17.61sWARNcontroller_managerOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us + 17.61sWARNros2_control_nodeOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 90 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Accepted new action goal ×2 + 1.41sWARNcontroller_managerOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us + 1.42sWARNros2_control_nodeOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780233.22438717 seconds ×3 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2).[0m ×2 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780233.80272007 seconds. ×3 + 2.91sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.91sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780233.87284064 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780234.49303055 seconds. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.68sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Accepted new action goal ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us[0m ×2 + 3.92sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587854 ms (missed cycles : 4). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587854 ms (missed cycles : 4).[0m ×2 + 7.01sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.01sINFOros2_control_node[2026-06-06 21:10:37.936] [info] Received new action goal ×2 + 7.01sINFOros2_control_node[2026-06-06 21:10:37.936] [info] Accepted new action goal ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009653 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009653 ms (missed cycles : 3).[0m ×2 + 7.63sWARNcontroller_managerOverrun might occur, Total time : 5054.420 us (Expected < 1666.667 us) --> Read time : 109.353 us, Update time : 4602.680 us, Write time : 342.387 us + 7.63sWARNros2_control_nodeOverrun might occur, Total time : 5054.420 us (Expected < 1666.667 us) --> Read time : 109.353 us, Update time : 4602.680 us, Write time : 342.387 us[0m ×2 + 8.72sWARNcontroller_managerOverrun might occur, Total time : 4309.494 us (Expected < 1666.667 us) --> Read time : 177.354 us, Update time : 43.621 us, Write time : 4088.519 us + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519598 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun might occur, Total time : 4309.494 us (Expected < 1666.667 us) --> Read time : 177.354 us, Update time : 43.621 us, Write time : 4088.519 us[0m ×2 + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519598 ms (missed cycles : 3).[0m ×2 + 9.35sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.35sINFOros2_control_node[2026-06-06 21:10:40.275] [info] Received new action goal ×2 + 9.35sINFOros2_control_node[2026-06-06 21:10:40.275] [info] Accepted new action goal ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498998 ms (missed cycles : 3). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498998 ms (missed cycles : 3).[0m ×2 + 10.00sWARNcontroller_managerOverrun might occur, Total time : 5776.736 us (Expected < 1666.667 us) --> Read time : 78.792 us, Update time : 5237.124 us, Write time : 460.820 us + 10.00sWARNros2_control_nodeOverrun might occur, Total time : 5776.736 us (Expected < 1666.667 us) --> Read time : 78.792 us, Update time : 5237.124 us, Write time : 460.820 us[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 11.14sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 11.14sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 11.68sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 11.68sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 11.68sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 12.76sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 12.76sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 13.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 14.22sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 14.22sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 14.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 14.50sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 14.50sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 14.50sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 14.50sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 15.23sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 15.24sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 15.61sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 15.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.62sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 15.62sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 16.70sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 16.70sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 96 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 + 6.96sWARNcontroller_managerOverrun might occur, Total time : 5212.925 us (Expected < 1666.667 us) --> Read time : 143.264 us, Update time : 4712.143 us, Write time : 357.518 us + 6.96sWARNros2_control_nodeOverrun might occur, Total time : 5212.925 us (Expected < 1666.667 us) --> Read time : 143.264 us, Update time : 4712.143 us, Write time : 357.518 us[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495255 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495255 ms (missed cycles : 4).[0m ×2 + 7.64sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures" + 7.64sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures"[0m ×2 + 8.15sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 8.15sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.470027 ms (missed cycles : 13). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.470027 ms (missed cycles : 13).[0m ×2 + 9.10sWARNcontroller_managerOverrun might occur, Total time : 1912.672 us (Expected < 1666.667 us) --> Read time : 97.792 us, Update time : 1505.643 us, Write time : 309.237 us + 9.10sWARNros2_control_nodeOverrun might occur, Total time : 1912.672 us (Expected < 1666.667 us) --> Read time : 97.792 us, Update time : 1505.643 us, Write time : 309.237 us[0m ×2 + 9.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.29sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912042 ms (missed cycles : 7). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912042 ms (missed cycles : 7).[0m ×2 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 9.56sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 9.57sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.58sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 9.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.61sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 9.66sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×4 + 9.66sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution" + 9.66sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution"[0m ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.70sINFOobjective_server_nodeFound path in 1 iterations (0.00221594 s). ×2 + 9.76sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.79sINFOobjective_server_nodeFound path in 1 iterations (0.00290788 s). ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 9.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.96sINFOros2_control_node[2026-06-06 21:10:51.777] [info] Received new action goal ×2 + 9.96sINFOros2_control_node[2026-06-06 21:10:51.777] [info] Accepted new action goal ×2 + 10.21sWARNcontroller_managerOverrun might occur, Total time : 2336.350 us (Expected < 1666.667 us) --> Read time : 107.232 us, Update time : 1975.313 us, Write time : 253.805 us + 10.21sWARNros2_control_nodeOverrun might occur, Total time : 2336.350 us (Expected < 1666.667 us) --> Read time : 107.232 us, Update time : 1975.313 us, Write time : 253.805 us[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280123 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280123 ms (missed cycles : 2).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881248 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881248 ms (missed cycles : 2).[0m ×2 + 12.05sWARNcontroller_managerOverrun might occur, Total time : 4163.871 us (Expected < 1666.667 us) --> Read time : 105.033 us, Update time : 3684.790 us, Write time : 374.048 us + 12.05sWARNros2_control_nodeOverrun might occur, Total time : 4163.871 us (Expected < 1666.667 us) --> Read time : 105.033 us, Update time : 3684.790 us, Write time : 374.048 us[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812726 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812726 ms (missed cycles : 3).[0m ×2 + 12.43sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×3 + 12.70sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.71sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.71sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.73sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×3 + 12.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1780780254.55494785 seconds ×3 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400372 ms (missed cycles : 4). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400372 ms (missed cycles : 4).[0m ×2 + 13.48sWARNcontroller_managerOverrun might occur, Total time : 1747.138 us (Expected < 1666.667 us) --> Read time : 143.103 us, Update time : 1329.749 us, Write time : 274.286 us + 13.48sWARNros2_control_nodeOverrun might occur, Total time : 1747.138 us (Expected < 1666.667 us) --> Read time : 143.103 us, Update time : 1329.749 us, Write time : 274.286 us[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833949 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833949 ms (missed cycles : 2).[0m ×2 + 14.54sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780780256.35601783 seconds. ×3 + 14.64sWARNcontroller_managerOverrun might occur, Total time : 3147.919 us (Expected < 1666.667 us) --> Read time : 84.812 us, Update time : 2548.965 us, Write time : 514.142 us + 14.65sWARNros2_control_nodeOverrun might occur, Total time : 3147.919 us (Expected < 1666.667 us) --> Read time : 84.812 us, Update time : 2548.965 us, Write time : 514.142 us[0m ×2 + 14.71sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.71sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.71sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.71sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.71sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 14.72sINFOros2_control_node[2026-06-06 21:10:56.539] [info] Received new action goal ×2 + 14.72sINFOros2_control_node[2026-06-06 21:10:56.539] [info] Accepted new action goal ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032078 ms (missed cycles : 4). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032078 ms (missed cycles : 4).[0m ×2 + 15.90sWARNcontroller_managerOverrun might occur, Total time : 4746.383 us (Expected < 1666.667 us) --> Read time : 124.742 us, Update time : 4189.322 us, Write time : 432.319 us + 15.90sWARNros2_control_nodeOverrun might occur, Total time : 4746.383 us (Expected < 1666.667 us) --> Read time : 124.742 us, Update time : 4189.322 us, Write time : 432.319 us[0m ×2 + 16.24sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.18% of iterations over budget over 1:10.002 of wall time (40/21736). Below 1% is expected on a non-realtime system.[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836438 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836438 ms (missed cycles : 2).[0m ×2 + 17.04sWARNcontroller_managerOverrun might occur, Total time : 3416.954 us (Expected < 1666.667 us) --> Read time : 168.983 us, Update time : 2700.839 us, Write time : 547.132 us + 17.04sWARNros2_control_nodeOverrun might occur, Total time : 3416.954 us (Expected < 1666.667 us) --> Read time : 168.983 us, Update time : 2700.839 us, Write time : 547.132 us[0m ×2 + 17.23sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures" + 17.23sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures"[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978162 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978162 ms (missed cycles : 2).[0m ×2 + 17.73sINFOfoxglove_bridgeRemoving channel 72 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 17.73sINFOfoxglove_bridgeRemoving channel 72 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.8s | 6 errors · 87 warnings · 66 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7).[0m ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3).[0m ×2 + 2.80sWARNcontroller_managerOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2).[0m ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780472.87934160 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780473.51396203 seconds. ×3 + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6).[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7).[0m ×2 + 7.13sWARNcontroller_managerOverrun might occur, Total time : 3703.841 us (Expected < 1666.667 us) --> Read time : 173.034 us, Update time : 46.531 us, Write time : 3484.276 us + 7.13sWARNros2_control_nodeOverrun might occur, Total time : 3703.841 us (Expected < 1666.667 us) --> Read time : 173.034 us, Update time : 46.531 us, Write time : 3484.276 us[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825637 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825637 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697067 ms (missed cycles : 7). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697067 ms (missed cycles : 7).[0m ×2 + 8.50sWARNcontroller_managerOverrun might occur, Total time : 5354.687 us (Expected < 1666.667 us) --> Read time : 145.243 us, Update time : 4815.825 us, Write time : 393.619 us + 8.50sWARNros2_control_nodeOverrun might occur, Total time : 5354.687 us (Expected < 1666.667 us) --> Read time : 145.243 us, Update time : 4815.825 us, Write time : 393.619 us[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.729176 ms (missed cycles : 7). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.729176 ms (missed cycles : 7).[0m ×2 + 9.53sWARNcontroller_managerOverrun might occur, Total time : 5336.577 us (Expected < 1666.667 us) --> Read time : 154.373 us, Update time : 4817.686 us, Write time : 364.518 us + 9.53sWARNros2_control_nodeOverrun might occur, Total time : 5336.577 us (Expected < 1666.667 us) --> Read time : 154.373 us, Update time : 4817.686 us, Write time : 364.518 us[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382821 ms (missed cycles : 5). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382821 ms (missed cycles : 5).[0m ×2 + 11.04sWARNcontroller_managerOverrun might occur, Total time : 1923.252 us (Expected < 1666.667 us) --> Read time : 92.032 us, Update time : 1323.689 us, Write time : 507.531 us + 11.05sWARNros2_control_nodeOverrun might occur, Total time : 1923.252 us (Expected < 1666.667 us) --> Read time : 92.032 us, Update time : 1323.689 us, Write time : 507.531 us[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548040 ms (missed cycles : 6). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548040 ms (missed cycles : 6).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.973488 ms (missed cycles : 6). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.973488 ms (missed cycles : 6).[0m ×2 + 12.89sWARNcontroller_managerOverrun might occur, Total time : 5360.907 us (Expected < 1666.667 us) --> Read time : 139.233 us, Update time : 4828.426 us, Write time : 393.248 us + 12.89sWARNros2_control_nodeOverrun might occur, Total time : 5360.907 us (Expected < 1666.667 us) --> Read time : 139.233 us, Update time : 4828.426 us, Write time : 393.248 us[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.929409 ms (missed cycles : 6). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.929409 ms (missed cycles : 6).[0m ×2 + 14.16sWARNcontroller_managerOverrun might occur, Total time : 1683.617 us (Expected < 1666.667 us) --> Read time : 101.232 us, Update time : 1343.060 us, Write time : 239.325 us + 14.16sWARNros2_control_nodeOverrun might occur, Total time : 1683.617 us (Expected < 1666.667 us) --> Read time : 101.232 us, Update time : 1343.060 us, Write time : 239.325 us[0m ×2 + 14.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780780483.75427413 seconds ×3 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345467 ms (missed cycles : 4). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345467 ms (missed cycles : 4).[0m ×2 + 14.72sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780780484.30367088 seconds. ×3 + 14.93sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 14.93sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.95sINFOros2_control_node[2026-06-06 21:14:44.533] [info] Received new action goal ×2 + 14.95sINFOros2_control_node[2026-06-06 21:14:44.533] [info] Accepted new action goal ×2 + 15.07sINFOfoxglove_bridgeRemoving channel 83 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 15.07sINFOfoxglove_bridgeRemoving channel 83 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.55sWARNcontroller_managerOverrun might occur, Total time : 3557.428 us (Expected < 1666.667 us) --> Read time : 104.692 us, Update time : 3165.109 us, Write time : 287.627 us + 15.56sWARNros2_control_nodeOverrun might occur, Total time : 3557.428 us (Expected < 1666.667 us) --> Read time : 104.692 us, Update time : 3165.109 us, Write time : 287.627 us[0m ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813008 ms (missed cycles : 3). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813008 ms (missed cycles : 3).[0m ×2 + 16.59sWARNcontroller_managerOverrun might occur, Total time : 1972.273 us (Expected < 1666.667 us) --> Read time : 94.092 us, Update time : 1571.044 us, Write time : 307.137 us + 16.59sWARNros2_control_nodeOverrun might occur, Total time : 1972.273 us (Expected < 1666.667 us) --> Read time : 94.092 us, Update time : 1571.044 us, Write time : 307.137 us[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224074 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224074 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.7s | 3 errors · 88 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5321.487 us (Expected < 1666.667 us) --> Read time : 157.084 us, Update time : 4821.175 us, Write time : 343.228 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5321.487 us (Expected < 1666.667 us) --> Read time : 157.084 us, Update time : 4821.175 us, Write time : 343.228 us[0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596986 ms (missed cycles : 4). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596986 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 1786.159 us (Expected < 1666.667 us) --> Read time : 1316.869 us, Update time : 58.811 us, Write time : 410.479 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 1786.159 us (Expected < 1666.667 us) --> Read time : 1316.869 us, Update time : 58.811 us, Write time : 410.479 us[0m ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983957 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983957 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun might occur, Total time : 2267.580 us (Expected < 1666.667 us) --> Read time : 562.452 us, Update time : 518.852 us, Write time : 1186.276 us + 2.29sWARNros2_control_nodeOverrun might occur, Total time : 2267.580 us (Expected < 1666.667 us) --> Read time : 562.452 us, Update time : 518.852 us, Write time : 1186.276 us[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.641471 ms (missed cycles : 7). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.641471 ms (missed cycles : 7).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780780494.13575864 seconds ×3 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.43sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522623 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522623 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780780494.75088310 seconds. ×3 + 4.04sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/preview_solution" + 4.04sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/preview_solution"[0m ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-06-06 21:14:54.874] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-06-06 21:14:54.874] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun might occur, Total time : 5941.350 us (Expected < 1666.667 us) --> Read time : 151.903 us, Update time : 5439.159 us, Write time : 350.288 us + 4.88sWARNros2_control_nodeOverrun might occur, Total time : 5941.350 us (Expected < 1666.667 us) --> Read time : 151.903 us, Update time : 5439.159 us, Write time : 350.288 us[0m ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.059029 ms (missed cycles : 6). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.059029 ms (missed cycles : 6).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907008 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907008 ms (missed cycles : 3).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 6941.351 us (Expected < 1666.667 us) --> Read time : 125.153 us, Update time : 6212.335 us, Write time : 603.863 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 6941.351 us (Expected < 1666.667 us) --> Read time : 125.153 us, Update time : 6212.335 us, Write time : 603.863 us[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861596 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861596 ms (missed cycles : 3).[0m ×2 + 7.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.30% of iterations over budget over 5:10.005 of wall time (290/95827). Below 1% is expected on a non-realtime system.[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019839 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019839 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun might occur, Total time : 2404.083 us (Expected < 1666.667 us) --> Read time : 110.893 us, Update time : 2007.173 us, Write time : 286.017 us + 8.49sWARNros2_control_nodeOverrun might occur, Total time : 2404.083 us (Expected < 1666.667 us) --> Read time : 110.893 us, Update time : 2007.173 us, Write time : 286.017 us[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152840 ms (missed cycles : 2). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152840 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun might occur, Total time : 3203.560 us (Expected < 1666.667 us) --> Read time : 132.483 us, Update time : 2742.980 us, Write time : 328.097 us + 9.60sWARNros2_control_nodeOverrun might occur, Total time : 3203.560 us (Expected < 1666.667 us) --> Read time : 132.483 us, Update time : 2742.980 us, Write time : 328.097 us[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825880 ms (missed cycles : 3). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825880 ms (missed cycles : 3).[0m ×2 + 10.66sWARNcontroller_managerOverrun might occur, Total time : 1696.989 us (Expected < 1666.667 us) --> Read time : 96.263 us, Update time : 42.532 us, Write time : 1558.194 us + 10.67sWARNros2_control_nodeOverrun might occur, Total time : 1696.989 us (Expected < 1666.667 us) --> Read time : 96.263 us, Update time : 42.532 us, Write time : 1558.194 us[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2).[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3).[0m ×2 + 12.49sWARNcontroller_managerOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us + 12.49sWARNros2_control_nodeOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2).[0m ×2 + 14.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780780504.86112142 seconds ×3 + 14.25sWARNcontroller_managerOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us + 14.25sWARNros2_control_nodeOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us[0m ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5).[0m ×2 + 14.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780505.41603708 seconds. ×3 + 14.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 14.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 14.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.76sWARNcontroller_managerOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us + 14.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.76sWARNros2_control_nodeOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us[0m ×2 + 14.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780505.48622465 seconds ×3 + 15.11sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 15.11sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780506.03854299 seconds. ×3 + 15.34sINFOobjective_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 + 15.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780506.06128359 seconds ×3 + 15.40sWARNcontroller_managerOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us + 15.40sWARNros2_control_nodeOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2).[0m ×2 + 16.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780506.75077105 seconds. ×3 + 16.12sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 16.12sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.14sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Received new action goal ×2 + 16.14sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Accepted new action goal ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us + 16.63sWARNros2_control_nodeOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3). | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 93 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3).[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2).[0m ×2 + 1.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780780504.86112142 seconds ×3 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 1.91sWARNcontroller_managerOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us + 1.91sWARNros2_control_nodeOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780505.41603708 seconds. ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sWARNcontroller_managerOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNros2_control_nodeOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780505.48622465 seconds ×3 + 2.78sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.78sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780506.03854299 seconds. ×3 + 3.01sINFOobjective_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 + 3.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780506.06128359 seconds ×3 + 3.06sWARNcontroller_managerOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us + 3.06sWARNros2_control_nodeOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780506.75077105 seconds. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.80sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2).[0m ×2 + 4.29sWARNcontroller_managerOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun might occur, Total time : 5331.306 us (Expected < 1666.667 us) --> Read time : 145.143 us, Update time : 4830.786 us, Write time : 355.377 us + 5.37sWARNros2_control_nodeOverrun might occur, Total time : 5331.306 us (Expected < 1666.667 us) --> Read time : 145.143 us, Update time : 4830.786 us, Write time : 355.377 us[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081164 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081164 ms (missed cycles : 2).[0m ×2 + 7.10sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.10sINFOros2_control_node[2026-06-06 21:15:10.154] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-06-06 21:15:10.154] [info] Accepted new action goal ×2 + 7.10sINFOros2_control_node[2026-06-06 21:15:10.154] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.23sWARNcontroller_managerOverrun might occur, Total time : 5319.277 us (Expected < 1666.667 us) --> Read time : 142.183 us, Update time : 4813.436 us, Write time : 363.658 us + 7.24sWARNros2_control_nodeOverrun might occur, Total time : 5319.277 us (Expected < 1666.667 us) --> Read time : 142.183 us, Update time : 4813.436 us, Write time : 363.658 us[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424300 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424300 ms (missed cycles : 3).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537185 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537185 ms (missed cycles : 3).[0m ×2 + 9.26sWARNcontroller_managerOverrun might occur, Total time : 1961.133 us (Expected < 1666.667 us) --> Read time : 127.183 us, Update time : 1575.955 us, Write time : 257.995 us + 9.26sWARNros2_control_nodeOverrun might occur, Total time : 1961.133 us (Expected < 1666.667 us) --> Read time : 127.183 us, Update time : 1575.955 us, Write time : 257.995 us[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959051 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959051 ms (missed cycles : 3).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607640 ms (missed cycles : 4). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607640 ms (missed cycles : 4).[0m ×2 + 10.71sWARNcontroller_managerOverrun might occur, Total time : 9487.417 us (Expected < 1666.667 us) --> Read time : 129.293 us, Update time : 8948.995 us, Write time : 409.129 us + 10.71sWARNros2_control_nodeOverrun might occur, Total time : 9487.417 us (Expected < 1666.667 us) --> Read time : 129.293 us, Update time : 8948.995 us, Write time : 409.129 us[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900035 ms (missed cycles : 3). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900035 ms (missed cycles : 3).[0m ×2 + 12.10sWARNcontroller_managerOverrun might occur, Total time : 6644.745 us (Expected < 1666.667 us) --> Read time : 127.133 us, Update time : 6038.912 us, Write time : 478.700 us + 12.10sWARNros2_control_nodeOverrun might occur, Total time : 6644.745 us (Expected < 1666.667 us) --> Read time : 127.133 us, Update time : 6038.912 us, Write time : 478.700 us[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2).[0m ×2 + 13.80sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Got request to cancel active goal. ×2 + 13.80sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Canceling active goal... ×2 + 13.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780516.85519671 seconds ×3 + 13.88sWARNcontroller_managerOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us + 13.88sWARNros2_control_nodeOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us[0m ×2 + 14.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780517.40183973 seconds. ×3 + 14.38sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 14.38sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8).[0m ×2 + 15.00sWARNcontroller_managerOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us + 15.01sWARNros2_control_nodeOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us[0m ×2 + 15.39sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures" + 15.39sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures"[0m ×2 + 15.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780518.48198390 seconds ×3 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3).[0m ×2 + 15.89sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 15.89sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 15.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780519.04297495 seconds. ×3 + 15.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.99sINFOobjective_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 + 15.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780519.04443860 seconds ×3 + 16.36sWARNcontroller_managerOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us + 16.37sWARNros2_control_nodeOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us[0m ×2 + 16.39sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 16.39sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 16.40sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 16.40sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 16.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780519.59829521 seconds. ×3 + 16.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780519.59873104 seconds ×3 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5).[0m ×2 + 16.90sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 16.90sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 3 errors · 84 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1923.252 us (Expected < 1666.667 us) --> Read time : 92.032 us, Update time : 1323.689 us, Write time : 507.531 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1923.252 us (Expected < 1666.667 us) --> Read time : 92.032 us, Update time : 1323.689 us, Write time : 507.531 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548040 ms (missed cycles : 6). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548040 ms (missed cycles : 6).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.973488 ms (missed cycles : 6). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.973488 ms (missed cycles : 6).[0m ×2 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 5360.907 us (Expected < 1666.667 us) --> Read time : 139.233 us, Update time : 4828.426 us, Write time : 393.248 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 5360.907 us (Expected < 1666.667 us) --> Read time : 139.233 us, Update time : 4828.426 us, Write time : 393.248 us[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.929409 ms (missed cycles : 6). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.929409 ms (missed cycles : 6).[0m ×2 + 3.12sWARNcontroller_managerOverrun might occur, Total time : 1683.617 us (Expected < 1666.667 us) --> Read time : 101.232 us, Update time : 1343.060 us, Write time : 239.325 us + 3.12sWARNros2_control_nodeOverrun might occur, Total time : 1683.617 us (Expected < 1666.667 us) --> Read time : 101.232 us, Update time : 1343.060 us, Write time : 239.325 us[0m ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780780483.75427413 seconds ×3 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345467 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345467 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780780484.30367088 seconds. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.91sINFOros2_control_node[2026-06-06 21:14:44.533] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-06-06 21:14:44.533] [info] Accepted new action goal ×2 + 4.03sINFOfoxglove_bridgeRemoving channel 83 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.03sINFOfoxglove_bridgeRemoving channel 83 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 3557.428 us (Expected < 1666.667 us) --> Read time : 104.692 us, Update time : 3165.109 us, Write time : 287.627 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 3557.428 us (Expected < 1666.667 us) --> Read time : 104.692 us, Update time : 3165.109 us, Write time : 287.627 us[0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813008 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813008 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun might occur, Total time : 1972.273 us (Expected < 1666.667 us) --> Read time : 94.092 us, Update time : 1571.044 us, Write time : 307.137 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 1972.273 us (Expected < 1666.667 us) --> Read time : 94.092 us, Update time : 1571.044 us, Write time : 307.137 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224074 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224074 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1684.457 us (Expected < 1666.667 us) --> Read time : 176.154 us, Update time : 1241.717 us, Write time : 266.586 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1684.457 us (Expected < 1666.667 us) --> Read time : 176.154 us, Update time : 1241.717 us, Write time : 266.586 us[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097941 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097941 ms (missed cycles : 2).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358578 ms (missed cycles : 5). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358578 ms (missed cycles : 5).[0m ×2 + 7.92sINFOros2_control_node[2026-06-06 21:14:48.549] [info] Received new action goal ×2 + 7.92sINFOros2_control_node[2026-06-06 21:14:48.549] [info] Accepted new action goal ×2 + 8.42sWARNcontroller_managerOverrun might occur, Total time : 4630.302 us (Expected < 1666.667 us) --> Read time : 83.922 us, Update time : 4227.633 us, Write time : 318.747 us + 8.42sWARNros2_control_nodeOverrun might occur, Total time : 4630.302 us (Expected < 1666.667 us) --> Read time : 83.922 us, Update time : 4227.633 us, Write time : 318.747 us[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.556993 ms (missed cycles : 6). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.556993 ms (missed cycles : 6).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263639 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263639 ms (missed cycles : 2).[0m ×2 + 10.09sWARNcontroller_managerOverrun might occur, Total time : 5321.487 us (Expected < 1666.667 us) --> Read time : 157.084 us, Update time : 4821.175 us, Write time : 343.228 us + 10.09sWARNros2_control_nodeOverrun might occur, Total time : 5321.487 us (Expected < 1666.667 us) --> Read time : 157.084 us, Update time : 4821.175 us, Write time : 343.228 us[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596986 ms (missed cycles : 4). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596986 ms (missed cycles : 4).[0m ×2 + 11.22sWARNcontroller_managerOverrun might occur, Total time : 1786.159 us (Expected < 1666.667 us) --> Read time : 1316.869 us, Update time : 58.811 us, Write time : 410.479 us + 11.22sWARNros2_control_nodeOverrun might occur, Total time : 1786.159 us (Expected < 1666.667 us) --> Read time : 1316.869 us, Update time : 58.811 us, Write time : 410.479 us[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983957 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983957 ms (missed cycles : 2).[0m ×2 + 12.38sWARNcontroller_managerOverrun might occur, Total time : 2267.580 us (Expected < 1666.667 us) --> Read time : 562.452 us, Update time : 518.852 us, Write time : 1186.276 us + 12.38sWARNros2_control_nodeOverrun might occur, Total time : 2267.580 us (Expected < 1666.667 us) --> Read time : 562.452 us, Update time : 518.852 us, Write time : 1186.276 us[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.641471 ms (missed cycles : 7). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.641471 ms (missed cycles : 7).[0m ×2 + 13.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780780494.13575864 seconds ×3 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522623 ms (missed cycles : 3). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522623 ms (missed cycles : 3).[0m ×2 + 14.12sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780780494.75088310 seconds. ×3 + 14.13sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/preview_solution" + 14.13sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/preview_solution"[0m ×2 + 14.24sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 14.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.25sINFOros2_control_node[2026-06-06 21:14:54.874] [info] Received new action goal ×2 + 14.25sINFOros2_control_node[2026-06-06 21:14:54.874] [info] Accepted new action goal ×2 + 14.97sWARNcontroller_managerOverrun might occur, Total time : 5941.350 us (Expected < 1666.667 us) --> Read time : 151.903 us, Update time : 5439.159 us, Write time : 350.288 us + 14.97sWARNros2_control_nodeOverrun might occur, Total time : 5941.350 us (Expected < 1666.667 us) --> Read time : 151.903 us, Update time : 5439.159 us, Write time : 350.288 us[0m ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.059029 ms (missed cycles : 6). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.059029 ms (missed cycles : 6).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907008 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907008 ms (missed cycles : 3).[0m ×2 + 16.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.82sWARNcontroller_managerOverrun might occur, Total time : 6941.351 us (Expected < 1666.667 us) --> Read time : 125.153 us, Update time : 6212.335 us, Write time : 603.863 us + 16.83sWARNros2_control_nodeOverrun might occur, Total time : 6941.351 us (Expected < 1666.667 us) --> Read time : 125.153 us, Update time : 6212.335 us, Write time : 603.863 us[0m ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 7.2s | 75 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7).[0m ×2 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780780279.23112988 seconds. ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 0.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.20sWARNcontroller_managerOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us + 0.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780279.31126618 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.75sWARNcontroller_managerOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us + 0.75sWARNros2_control_nodeOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780279.86361384 seconds. ×3 + 0.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 0.87sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us + 2.25sWARNros2_control_nodeOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780281.98375535 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780780282.53734350 seconds. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.54sINFOros2_control_node[2026-06-06 21:11:22.650] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-06-06 21:11:22.650] [info] Accepted new action goal ×2 + 3.66sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 3.66sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 3.66sWARNcontroller_managerOverrun might occur, Total time : 1780.459 us (Expected < 1666.667 us) --> Read time : 90.392 us, Update time : 1453.301 us, Write time : 236.766 us + 3.67sWARNros2_control_nodeOverrun might occur, Total time : 1780.459 us (Expected < 1666.667 us) --> Read time : 90.392 us, Update time : 1453.301 us, Write time : 236.766 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710539 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710539 ms (missed cycles : 3).[0m ×2 + 4.84sWARNcontroller_managerOverrun might occur, Total time : 2072.955 us (Expected < 1666.667 us) --> Read time : 152.344 us, Update time : 1644.575 us, Write time : 276.036 us + 4.84sWARNros2_control_nodeOverrun might occur, Total time : 2072.955 us (Expected < 1666.667 us) --> Read time : 152.344 us, Update time : 1644.575 us, Write time : 276.036 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092816 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092816 ms (missed cycles : 6).[0m ×2 + 5.99sWARNcontroller_managerOverrun might occur, Total time : 1814.050 us (Expected < 1666.667 us) --> Read time : 177.814 us, Update time : 1384.100 us, Write time : 252.136 us + 5.99sWARNros2_control_nodeOverrun might occur, Total time : 1814.050 us (Expected < 1666.667 us) --> Read time : 177.814 us, Update time : 1384.100 us, Write time : 252.136 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789237 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789237 ms (missed cycles : 4).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989839 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989839 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun might occur, Total time : 2080.354 us (Expected < 1666.667 us) --> Read time : 125.772 us, Update time : 1621.755 us, Write time : 332.827 us + 7.37sWARNros2_control_nodeOverrun might occur, Total time : 2080.354 us (Expected < 1666.667 us) --> Read time : 125.772 us, Update time : 1621.755 us, Write time : 332.827 us[0m ×2 + 7.72sINFOobjective_server_node[0;93m2026-06-06 21:11:26.826398685 [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 + 7.72sINFOobjective_server_node[0;93m2026-06-06 21:11:26.826428436 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.23sINFOobjective_server_node[0;93m2026-06-06 21:11:27.335805994 [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 + 8.23sINFOobjective_server_node[0;93m2026-06-06 21:11:27.335856075 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930589 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930589 ms (missed cycles : 3).[0m ×2 + 8.35sINFOobjective_server_node[0;93m2026-06-06 21:11:27.458674607 [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 + 8.35sINFOobjective_server_node[0;93m2026-06-06 21:11:27.460773803 [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 + 8.35sINFOobjective_server_node[0;93m2026-06-06 21:11:27.460793164 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.64sWARNcontroller_managerOverrun might occur, Total time : 4334.394 us (Expected < 1666.667 us) --> Read time : 131.693 us, Update time : 3823.343 us, Write time : 379.358 us + 8.64sWARNros2_control_nodeOverrun might occur, Total time : 4334.394 us (Expected < 1666.667 us) --> Read time : 131.693 us, Update time : 3823.343 us, Write time : 379.358 us[0m ×2 + 8.66sINFOobjective_server_node[0;93m2026-06-06 21:11:27.766657051 [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 + 8.67sINFOobjective_server_node[0;93m2026-06-06 21:11:27.779131062 [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 + 8.67sINFOobjective_server_node[0;93m2026-06-06 21:11:27.779161292 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532284 ms (missed cycles : 3). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532284 ms (missed cycles : 3).[0m ×2 + 10.01sWARNcontroller_managerOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us + 10.01sWARNros2_control_nodeOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us[0m ×2 + 10.04sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780289.15276384 seconds ×3 + 10.20sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 10.20sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3).[0m ×2 + 10.64sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780289.74659777 seconds. ×3 + 10.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 10.71sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 10.71sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 10.71sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 11.13sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230900403 [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 + 11.13sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230937594 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13).[0m ×2 + 11.56sWARNcontroller_managerOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us + 11.56sWARNros2_control_nodeOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us[0m ×2 + 11.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713328167 [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 + 11.61sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713359578 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.72sINFOobjective_server_node[0;93m2026-06-06 21:11:30.829008744 [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 + 11.72sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831682602 [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 + 11.72sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831703042 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.117538426 [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 + 12.02sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130322004 [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 + 12.02sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130360714 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7).[0m ×2 + 12.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780292.00803876 seconds ×3 + 13.11sWARNcontroller_managerOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us + 13.11sWARNros2_control_nodeOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us[0m ×2 + 13.22sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 13.22sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3).[0m ×2 + 13.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780292.78123641 seconds. ×3 + 13.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 13.73sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 13.73sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 2.9s | 51 warnings · 98 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989839 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989839 ms (missed cycles : 2).[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 2080.354 us (Expected < 1666.667 us) --> Read time : 125.772 us, Update time : 1621.755 us, Write time : 332.827 us + 0.19sWARNros2_control_nodeOverrun might occur, Total time : 2080.354 us (Expected < 1666.667 us) --> Read time : 125.772 us, Update time : 1621.755 us, Write time : 332.827 us[0m ×2 + 0.54sINFOobjective_server_node[0;93m2026-06-06 21:11:26.826398685 [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 + 0.54sINFOobjective_server_node[0;93m2026-06-06 21:11:26.826428436 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.05sINFOobjective_server_node[0;93m2026-06-06 21:11:27.335805994 [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 + 1.05sINFOobjective_server_node[0;93m2026-06-06 21:11:27.335856075 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930589 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930589 ms (missed cycles : 3).[0m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-06 21:11:27.458674607 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-06 21:11:27.460773803 [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 + 1.17sINFOobjective_server_node[0;93m2026-06-06 21:11:27.460793164 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.46sWARNcontroller_managerOverrun might occur, Total time : 4334.394 us (Expected < 1666.667 us) --> Read time : 131.693 us, Update time : 3823.343 us, Write time : 379.358 us + 1.46sWARNros2_control_nodeOverrun might occur, Total time : 4334.394 us (Expected < 1666.667 us) --> Read time : 131.693 us, Update time : 3823.343 us, Write time : 379.358 us[0m ×2 + 1.48sINFOobjective_server_node[0;93m2026-06-06 21:11:27.766657051 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-06 21:11:27.779131062 [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 + 1.49sINFOobjective_server_node[0;93m2026-06-06 21:11:27.779161292 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532284 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532284 ms (missed cycles : 3).[0m ×2 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us[0m ×2 + 2.86sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780289.15276384 seconds ×3 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.02sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.02sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780289.74659777 seconds. ×3 + 3.53sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.53sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.53sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.53sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 3.95sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230900403 [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 + 3.95sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230937594 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13).[0m ×2 + 4.38sWARNcontroller_managerOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us + 4.38sWARNros2_control_nodeOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us[0m ×2 + 4.43sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713328167 [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 + 4.43sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713359578 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.54sINFOobjective_server_node[0;93m2026-06-06 21:11:30.829008744 [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 + 4.54sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831682602 [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 + 4.54sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831703042 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.83sINFOobjective_server_node[0;93m2026-06-06 21:11:31.117538426 [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 + 4.84sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130322004 [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 + 4.84sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130360714 [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 detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780292.00803876 seconds ×3 + 5.93sWARNcontroller_managerOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us + 5.93sWARNros2_control_nodeOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us[0m ×2 + 6.04sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 6.04sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780292.78123641 seconds. ×3 + 6.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.55sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.55sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 6.95sWARNcontroller_managerOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us + 6.95sWARNros2_control_nodeOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4).[0m ×2 + 7.52sINFOobjective_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 + 7.53sINFOobjective_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 + 7.55sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 7.55sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.83sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Received new action goal ×2 + 7.83sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Accepted new action goal ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6).[0m ×2 + 8.83sWARNcontroller_managerOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us + 8.83sWARNros2_control_nodeOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 51 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3641.869 us (Expected < 1666.667 us) --> Read time : 156.094 us, Update time : 45.261 us, Write time : 3440.514 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3641.869 us (Expected < 1666.667 us) --> Read time : 156.094 us, Update time : 45.261 us, Write time : 3440.514 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166068 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166068 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235367 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235367 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780780278.60363650 seconds ×3 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 3484.135 us (Expected < 1666.667 us) --> Read time : 251.865 us, Update time : 2664.028 us, Write time : 568.242 us + 1.82sWARNros2_control_nodeOverrun might occur, Total time : 3484.135 us (Expected < 1666.667 us) --> Read time : 251.865 us, Update time : 2664.028 us, Write time : 568.242 us[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780780279.23112988 seconds. ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sWARNcontroller_managerOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780279.31126618 seconds ×3 + 2.93sWARNcontroller_managerOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us + 2.93sWARNros2_control_nodeOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780279.86361384 seconds. ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.05sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3).[0m ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780281.98375535 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780780282.53734350 seconds. ×3 + 5.71sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.72sINFOros2_control_node[2026-06-06 21:11:22.650] [info] Received new action goal ×2 + 5.72sINFOros2_control_node[2026-06-06 21:11:22.650] [info] Accepted new action goal ×2 + 5.83sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 5.84sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1780.459 us (Expected < 1666.667 us) --> Read time : 90.392 us, Update time : 1453.301 us, Write time : 236.766 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 1780.459 us (Expected < 1666.667 us) --> Read time : 90.392 us, Update time : 1453.301 us, Write time : 236.766 us[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710539 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710539 ms (missed cycles : 3).[0m ×2 + 7.01sWARNcontroller_managerOverrun might occur, Total time : 2072.955 us (Expected < 1666.667 us) --> Read time : 152.344 us, Update time : 1644.575 us, Write time : 276.036 us + 7.01sWARNros2_control_nodeOverrun might occur, Total time : 2072.955 us (Expected < 1666.667 us) --> Read time : 152.344 us, Update time : 1644.575 us, Write time : 276.036 us[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092816 ms (missed cycles : 6). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092816 ms (missed cycles : 6).[0m ×2 + 8.16sWARNcontroller_managerOverrun might occur, Total time : 1814.050 us (Expected < 1666.667 us) --> Read time : 177.814 us, Update time : 1384.100 us, Write time : 252.136 us + 8.17sWARNros2_control_nodeOverrun might occur, Total time : 1814.050 us (Expected < 1666.667 us) --> Read time : 177.814 us, Update time : 1384.100 us, Write time : 252.136 us[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789237 ms (missed cycles : 4). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789237 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 45 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607640 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607640 ms (missed cycles : 4).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 9487.417 us (Expected < 1666.667 us) --> Read time : 129.293 us, Update time : 8948.995 us, Write time : 409.129 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 9487.417 us (Expected < 1666.667 us) --> Read time : 129.293 us, Update time : 8948.995 us, Write time : 409.129 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900035 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900035 ms (missed cycles : 3).[0m ×2 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 6644.745 us (Expected < 1666.667 us) --> Read time : 127.133 us, Update time : 6038.912 us, Write time : 478.700 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 6644.745 us (Expected < 1666.667 us) --> Read time : 127.133 us, Update time : 6038.912 us, Write time : 478.700 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2).[0m ×2 + 3.26sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Canceling active goal... ×2 + 3.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780516.85519671 seconds ×3 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780517.40183973 seconds. ×3 + 3.85sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 3.85sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us + 4.48sWARNros2_control_nodeOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us[0m ×2 + 4.85sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures" + 4.86sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures"[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780518.48198390 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3).[0m ×2 + 5.36sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.36sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780519.04297495 seconds. ×3 + 5.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.45sINFOobjective_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 + 5.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780519.04443860 seconds ×3 + 5.83sWARNcontroller_managerOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us + 5.83sWARNros2_control_nodeOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us[0m ×2 + 5.86sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.86sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 5.86sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.86sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 6.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780519.59829521 seconds. ×3 + 6.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780519.59873104 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5).[0m ×2 + 6.36sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 6.37sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780780520.29801512 seconds. ×3 + 6.95sWARNcontroller_managerOverrun might occur, Total time : 7795.538 us (Expected < 1666.667 us) --> Read time : 96.372 us, Update time : 7102.704 us, Write time : 596.462 us + 6.95sWARNros2_control_nodeOverrun might occur, Total time : 7795.538 us (Expected < 1666.667 us) --> Read time : 96.372 us, Update time : 7102.704 us, Write time : 596.462 us[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857807 ms (missed cycles : 5). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857807 ms (missed cycles : 5).[0m ×2 + 7.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780780521.39817142 seconds ×3 + 7.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 55 warnings · 495 info |
+ 0.00sINFOobjective_server_node[2026-06-06 21:09:47.836] [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 + 0.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.19sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics" + 0.19sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics"[0m ×2 + 0.19sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector" + 0.19sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector"[0m ×2 + 0.19sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description" + 0.19sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m ×2 + 0.20sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.20sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.20sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.20sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.20sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.20sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.20sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.20sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.20sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.20sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.20sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.20sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.20sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.33sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.36sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.36sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.40sINFOobjective_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 + 0.40sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.41sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.41sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.41sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.41sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.41sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.41sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.41sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.41sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.42sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.42sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.42sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.42sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.42sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.42sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.43sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.45sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.45sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.45sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.45sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.45sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.45sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.45sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.45sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.46sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.47sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.55sINFOmove_group ×4 + 0.55sINFOmove_group[92mYou can start planning now![0m ×2 + 0.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361409 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361409 ms (missed cycles : 2).[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.74sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.74sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.75sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/points" + 0.75sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/points"[0m ×2 + 0.75sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/depth" + 0.75sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/color" + 0.76sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/depth"[0m ×2 + 0.76sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/color"[0m ×2 + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9720] ×2 + 0.76sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/visual_markers" + 0.76sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/visual_markers"[0m ×2 + 0.77sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/transient_monitored_planning_scene_without_octomap" + 0.77sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/depth" + 0.77sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color" + 0.77sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/points" + 0.77sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/trajectory_execution_event" + 0.77sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 0.77sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/depth"[0m ×2 + 0.77sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color"[0m ×2 + 0.77sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/points"[0m ×2 + 0.77sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/trajectory_execution_event"[0m ×2 + 0.77sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_state_broadcaster/transition_event" + 0.77sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 0.77sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/scene_camera/camera_info" + 0.77sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/scene_camera/camera_info"[0m ×2 + 0.78sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/dynamic_joint_states" + 0.78sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/wrist_camera/camera_info" + 0.78sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/blackboard_contents" + 0.78sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/dynamic_joint_states"[0m ×2 + 0.78sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/wrist_camera/camera_info"[0m ×2 + 0.78sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/blackboard_contents"[0m ×2 + 0.78sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status" + 0.78sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status"[0m ×2 + 0.84sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.84sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.89sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.89sINFOros2_control_node[2026-06-06 21:09:48.729] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.89sINFOros2_control_node[2026-06-06 21:09:48.729] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.92sINFOros2_control_node[2026-06-06 21:09:48.755] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.92sINFOros2_control_node[2026-06-06 21:09:48.755] [info] Controller state will be published at 50 Hz. ×2 + 0.93sINFOros2_control_node[2026-06-06 21:09:48.761] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.18sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.18sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.18sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.19sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 1.19sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9725] ×2 + 1.25sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.25sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.25sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.25sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.25sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.26sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.26sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.26sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.26sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.26sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/speed_scaling_input" + 1.49sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory" + 1.49sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/controller_state" + 1.49sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.49sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.49sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/transition_event" + 1.49sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 1.54sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.54sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 1.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9721] ×2 + 1.58sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.58sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.59sINFOforce_torque_sensor_broadcasterconfigure successful + 1.59sINFOros2_control_nodeconfigure successful[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.59sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.60sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9718] ×2 + 1.89sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.89sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.89sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.89sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 1.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 1.90sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.232239 ms (missed cycles : 8). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.232239 ms (missed cycles : 8).[0m ×2 + 1.93sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 1.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.94sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.94sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.94sWARNcontroller_managerOverrun might occur, Total time : 3173.100 us (Expected < 1666.667 us) --> Read time : 98.052 us, Update time : 2818.762 us (Switch time : 2783.911 us (Switch chained mode time : 0.490 us, perform mode change time : 1.690 us, Activation time : 2778.011 us, Deactivation time : 0.350 us)), Write time : 256.286 us + 1.94sWARNros2_control_nodeOverrun might occur, Total time : 3173.100 us (Expected < 1666.667 us) --> Read time : 98.052 us, Update time : 2818.762 us (Switch time : 2783.911 us (Switch chained mode time : 0.490 us, perform mode change time : 1.690 us, Activation time : 2778.011 us, Deactivation time : 0.350 us)), Write time : 256.286 us[0m ×2 + 1.94sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 1.98sWARNobjective_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 + 2.02sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event" + 2.04sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench" + 2.04sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 2.04sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/force_torque_sensor_broadcaster/transition_event" + 2.04sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 2.04sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.06sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9719] ×2 + 2.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 2.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 2.36sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.39sINFOros2_control_node[2026-06-06 21:09:50.222] [info] Controller state will be published at 20 Hz. ×2 + 2.39sINFOros2_control_node[2026-06-06 21:09:50.223] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.57sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/transition_event" + 2.57sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 2.58sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/controller_state" + 2.58sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/command" + 2.58sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 2.58sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/command"[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780780190.55816150 seconds. ×3 + 2.72sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.72sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.73sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.73sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780780190.56840134 seconds ×3 + 2.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9728] ×2 + 2.79sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 2.79sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 2.83sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 2.83sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.83sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.85sINFOros2_control_node[2026-06-06 21:09:50.689] [info] Controller state will be published at 10 Hz. ×2 + 2.85sINFOros2_control_node[2026-06-06 21:09:50.690] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.12sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 3.12sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 3.12sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 3.12sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 3.12sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 3.12sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 3.12sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 3.12sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5).[0m ×2 + 3.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9727] ×2 + 3.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780191.11016655 seconds. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.66sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.66sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 6.42sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 6.42sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 6.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 7.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 7.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 7.66sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 7.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 7.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.89sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 7.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.89sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 7.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 47 warnings · 291 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/speed_scaling_input" + 0.00sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory" + 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9721] ×2 + 0.10sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.10sINFOforce_torque_sensor_broadcasterconfigure successful + 0.10sINFOros2_control_nodeconfigure successful[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.11sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9718] ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.232239 ms (missed cycles : 8). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.232239 ms (missed cycles : 8).[0m ×2 + 0.45sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.45sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.45sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.45sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 3173.100 us (Expected < 1666.667 us) --> Read time : 98.052 us, Update time : 2818.762 us (Switch time : 2783.911 us (Switch chained mode time : 0.490 us, perform mode change time : 1.690 us, Activation time : 2778.011 us, Deactivation time : 0.350 us)), Write time : 256.286 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 3173.100 us (Expected < 1666.667 us) --> Read time : 98.052 us, Update time : 2818.762 us (Switch time : 2783.911 us (Switch chained mode time : 0.490 us, perform mode change time : 1.690 us, Activation time : 2778.011 us, Deactivation time : 0.350 us)), Write time : 256.286 us[0m ×2 + 0.46sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.49sWARNobjective_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 + 0.53sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event" + 0.55sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench" + 0.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.55sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.55sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9719] ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.88sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.90sINFOros2_control_node[2026-06-06 21:09:50.222] [info] Controller state will be published at 20 Hz. ×2 + 0.90sINFOros2_control_node[2026-06-06 21:09:50.223] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/transition_event" + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/controller_state" + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/command" + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/command"[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780780190.55816150 seconds. ×3 + 1.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780780190.56840134 seconds ×3 + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9728] ×2 + 1.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 1.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 1.34sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.37sINFOros2_control_node[2026-06-06 21:09:50.689] [info] Controller state will be published at 10 Hz. ×2 + 1.37sINFOros2_control_node[2026-06-06 21:09:50.690] [info] VelocityForceController 'on_configure' succeeded. ×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 + 1.64sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 1.64sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 1.64sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 1.64sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.64sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.64sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5).[0m ×2 + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9727] ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780191.11016655 seconds. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_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 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 4.93sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 4.93sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 5.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 5.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 6.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.40sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 6.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.41sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 7.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 7.01sINFOobjective_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 + 7.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 7.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.10sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 7.26sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 7.26sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 42 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3002.655 us (Expected < 1666.667 us) --> Read time : 79.472 us, Update time : 2708.939 us, Write time : 214.244 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3002.655 us (Expected < 1666.667 us) --> Read time : 79.472 us, Update time : 2708.939 us, Write time : 214.244 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570971 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570971 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 3641.869 us (Expected < 1666.667 us) --> Read time : 156.094 us, Update time : 45.261 us, Write time : 3440.514 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 3641.869 us (Expected < 1666.667 us) --> Read time : 156.094 us, Update time : 45.261 us, Write time : 3440.514 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166068 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166068 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235367 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235367 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780780278.60363650 seconds ×3 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 3484.135 us (Expected < 1666.667 us) --> Read time : 251.865 us, Update time : 2664.028 us, Write time : 568.242 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 3484.135 us (Expected < 1666.667 us) --> Read time : 251.865 us, Update time : 2664.028 us, Write time : 568.242 us[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780780279.23112988 seconds. ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780279.31126618 seconds ×3 + 3.95sWARNcontroller_managerOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us + 3.95sWARNros2_control_nodeOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780279.86361384 seconds. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.07sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780281.98375535 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780780282.53734350 seconds. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 6.74sINFOros2_control_node[2026-06-06 21:11:22.650] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:11:22.650] [info] Accepted new action goal ×2 + 6.86sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 6.86sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 6.86sWARNcontroller_managerOverrun might occur, Total time : 1780.459 us (Expected < 1666.667 us) --> Read time : 90.392 us, Update time : 1453.301 us, Write time : 236.766 us + 6.87sWARNros2_control_nodeOverrun might occur, Total time : 1780.459 us (Expected < 1666.667 us) --> Read time : 90.392 us, Update time : 1453.301 us, Write time : 236.766 us[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 36 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1700.037 us (Expected < 1666.667 us) --> Read time : 177.824 us, Update time : 39.311 us, Write time : 1482.902 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1700.037 us (Expected < 1666.667 us) --> Read time : 177.824 us, Update time : 39.311 us, Write time : 1482.902 us[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4).[0m ×2 + 1.76sWARNcontroller_managerOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us + 1.77sWARNros2_control_nodeOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us[0m ×2 + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.98sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.99sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7).[0m ×2 + 2.78sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780206.78508306 seconds ×3 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.89sWARNcontroller_managerOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us + 2.89sWARNros2_control_nodeOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780207.34712625 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780207.45726013 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780208.09420657 seconds. ×3 + 4.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 4.14sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us[0m ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5).[0m ×2 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.24sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.6s | 39 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429199 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429199 ms (missed cycles : 4).[0m ×2 + 0.58sWARNcontroller_managerOverrun might occur, Total time : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us + 0.58sWARNros2_control_nodeOverrun might occur, Total time : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2).[0m ×2 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.49sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us + 2.00sWARNros2_control_nodeOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780233.22438717 seconds ×3 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780233.80272007 seconds. ×3 + 3.49sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.49sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780233.87284064 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780234.49303055 seconds. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us[0m ×2 + 4.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.50sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587854 ms (missed cycles : 4). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587854 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 3 errors · 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1696.989 us (Expected < 1666.667 us) --> Read time : 96.263 us, Update time : 42.532 us, Write time : 1558.194 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1696.989 us (Expected < 1666.667 us) --> Read time : 96.263 us, Update time : 42.532 us, Write time : 1558.194 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3).[0m ×2 + 1.83sWARNcontroller_managerOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us + 1.83sWARNros2_control_nodeOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2).[0m ×2 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780780504.86112142 seconds ×3 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780505.41603708 seconds. ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us + 4.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780505.48622465 seconds ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780506.03854299 seconds. ×3 + 4.68sINFOobjective_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 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780506.06128359 seconds ×3 + 4.73sWARNcontroller_managerOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us + 4.74sWARNros2_control_nodeOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780506.75077105 seconds. ×3 + 5.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3).[0m ×2 + 7.04sWARNcontroller_managerOverrun might occur, Total time : 5331.306 us (Expected < 1666.667 us) --> Read time : 145.143 us, Update time : 4830.786 us, Write time : 355.377 us + 7.04sWARNros2_control_nodeOverrun might occur, Total time : 5331.306 us (Expected < 1666.667 us) --> Read time : 145.143 us, Update time : 4830.786 us, Write time : 355.377 us[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2).[0m ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780780504.86112142 seconds ×3 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us + 2.94sWARNros2_control_nodeOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780505.41603708 seconds. ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sWARNcontroller_managerOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us + 3.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sWARNros2_control_nodeOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780505.48622465 seconds ×3 + 3.81sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.81sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780506.03854299 seconds. ×3 + 4.03sINFOobjective_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 + 4.03sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780506.06128359 seconds ×3 + 4.09sWARNcontroller_managerOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us + 4.09sWARNros2_control_nodeOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780506.75077105 seconds. ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.83sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us + 5.32sWARNros2_control_nodeOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 5331.306 us (Expected < 1666.667 us) --> Read time : 145.143 us, Update time : 4830.786 us, Write time : 355.377 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 5331.306 us (Expected < 1666.667 us) --> Read time : 145.143 us, Update time : 4830.786 us, Write time : 355.377 us[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081164 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081164 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 6644.745 us (Expected < 1666.667 us) --> Read time : 127.133 us, Update time : 6038.912 us, Write time : 478.700 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 6644.745 us (Expected < 1666.667 us) --> Read time : 127.133 us, Update time : 6038.912 us, Write time : 478.700 us[0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2).[0m ×2 + 1.70sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Got request to cancel active goal. ×2 + 1.70sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Canceling active goal... ×2 + 1.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780516.85519671 seconds ×3 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780517.40183973 seconds. ×3 + 2.28sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 2.28sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8).[0m ×2 + 2.90sWARNcontroller_managerOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us + 2.91sWARNros2_control_nodeOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us[0m ×2 + 3.29sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures" + 3.29sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures"[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780518.48198390 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3).[0m ×2 + 3.79sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 3.79sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780519.04297495 seconds. ×3 + 3.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.89sINFOobjective_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 + 3.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780519.04443860 seconds ×3 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us + 4.27sWARNros2_control_nodeOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us[0m ×2 + 4.30sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.30sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 4.30sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.30sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780519.59829521 seconds. ×3 + 4.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780519.59873104 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5).[0m ×2 + 4.80sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 4.80sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780780520.29801512 seconds. ×3 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 7795.538 us (Expected < 1666.667 us) --> Read time : 96.372 us, Update time : 7102.704 us, Write time : 596.462 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 7795.538 us (Expected < 1666.667 us) --> Read time : 96.372 us, Update time : 7102.704 us, Write time : 596.462 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857807 ms (missed cycles : 5). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857807 ms (missed cycles : 5).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780780521.39817142 seconds ×3 + 6.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632521 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632521 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Got request to cancel active goal. ×2 + 1.16sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Canceling active goal... ×2 + 1.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780516.85519671 seconds ×3 + 1.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.17sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.24sWARNcontroller_managerOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us + 1.24sWARNros2_control_nodeOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780517.40183973 seconds. ×3 + 1.74sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 1.74sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us[0m ×2 + 2.75sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures" + 2.76sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures"[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780518.48198390 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3).[0m ×2 + 3.25sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 3.26sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780519.04297495 seconds. ×3 + 3.35sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.35sINFOobjective_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 + 3.35sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.35sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780519.04443860 seconds ×3 + 3.73sWARNcontroller_managerOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us + 3.73sWARNros2_control_nodeOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us[0m ×2 + 3.76sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.76sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 3.76sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.76sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780519.59829521 seconds. ×3 + 3.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780519.59873104 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5).[0m ×2 + 4.26sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 4.26sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780780520.29801512 seconds. ×3 + 4.85sWARNcontroller_managerOverrun might occur, Total time : 7795.538 us (Expected < 1666.667 us) --> Read time : 96.372 us, Update time : 7102.704 us, Write time : 596.462 us + 4.85sWARNros2_control_nodeOverrun might occur, Total time : 7795.538 us (Expected < 1666.667 us) --> Read time : 96.372 us, Update time : 7102.704 us, Write time : 596.462 us[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857807 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857807 ms (missed cycles : 5).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780780521.39817142 seconds ×3 + 5.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632521 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632521 ms (missed cycles : 3).[0m ×2 + 7.04sWARNcontroller_managerOverrun might occur, Total time : 3653.870 us (Expected < 1666.667 us) --> Read time : 95.642 us, Update time : 3196.270 us, Write time : 361.958 us + 7.04sWARNros2_control_nodeOverrun might occur, Total time : 3653.870 us (Expected < 1666.667 us) --> Read time : 95.642 us, Update time : 3196.270 us, Write time : 361.958 us[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.1s | 36 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us[0m ×2 + 0.03sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780289.15276384 seconds ×3 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780289.74659777 seconds. ×3 + 0.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.70sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.70sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.12sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230900403 [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 + 1.12sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230937594 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13).[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us[0m ×2 + 1.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713328167 [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 + 1.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713359578 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.829008744 [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 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831682602 [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 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831703042 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.00sINFOobjective_server_node[0;93m2026-06-06 21:11:31.117538426 [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 + 2.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130322004 [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 + 2.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130360714 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780292.00803876 seconds ×3 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us[0m ×2 + 3.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780292.78123641 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.12sWARNcontroller_managerOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us + 4.12sWARNros2_control_nodeOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_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 + 4.70sINFOobjective_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 + 4.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6).[0m ×2 + 6.00sWARNcontroller_managerOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us + 6.00sWARNros2_control_nodeOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.1s | 3 errors · 39 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3).[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2).[0m ×2 + 1.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780780504.86112142 seconds ×3 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.91sWARNcontroller_managerOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us + 1.91sWARNros2_control_nodeOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780505.41603708 seconds. ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sWARNcontroller_managerOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNros2_control_nodeOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780505.48622465 seconds ×3 + 2.78sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.78sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780506.03854299 seconds. ×3 + 3.01sINFOobjective_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 + 3.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780506.06128359 seconds ×3 + 3.06sWARNcontroller_managerOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us + 3.06sWARNros2_control_nodeOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780506.75077105 seconds. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.80sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2).[0m ×2 + 4.29sWARNcontroller_managerOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun might occur, Total time : 5331.306 us (Expected < 1666.667 us) --> Read time : 145.143 us, Update time : 4830.786 us, Write time : 355.377 us + 5.37sWARNros2_control_nodeOverrun might occur, Total time : 5331.306 us (Expected < 1666.667 us) --> Read time : 145.143 us, Update time : 4830.786 us, Write time : 355.377 us[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081164 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081164 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.1s | 30 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708875 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708875 ms (missed cycles : 4).[0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 6998.122 us (Expected < 1666.667 us) --> Read time : 160.913 us, Update time : 6448.121 us, Write time : 389.088 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 6998.122 us (Expected < 1666.667 us) --> Read time : 160.913 us, Update time : 6448.121 us, Write time : 389.088 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936144 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936144 ms (missed cycles : 3).[0m ×2 + 1.51sWARNcontroller_managerOverrun might occur, Total time : 1736.398 us (Expected < 1666.667 us) --> Read time : 147.254 us, Update time : 1269.147 us, Write time : 319.997 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 1736.398 us (Expected < 1666.667 us) --> Read time : 147.254 us, Update time : 1269.147 us, Write time : 319.997 us[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.698082 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.698082 ms (missed cycles : 7).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780780461.64111042 seconds ×3 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883311 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883311 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun might occur, Total time : 2679.699 us (Expected < 1666.667 us) --> Read time : 165.024 us, Update time : 907.660 us, Write time : 1607.015 us + 3.16sWARNros2_control_nodeOverrun might occur, Total time : 2679.699 us (Expected < 1666.667 us) --> Read time : 165.024 us, Update time : 907.660 us, Write time : 1607.015 us[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780780462.39766240 seconds. ×3 + 3.26sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.26sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.26sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.26sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.26sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution"[0m ×2 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.43sINFOros2_control_node[2026-06-06 21:14:22.633] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-06-06 21:14:22.633] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225083 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225083 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187544 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187544 ms (missed cycles : 5).[0m ×2 + 5.78sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures" + 5.78sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures"[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126173 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126173 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.1s | 3 errors · 33 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.52sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7).[0m ×2 + 2.31sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780206.78508306 seconds ×3 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780207.34712625 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780207.45726013 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780208.09420657 seconds. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.67sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.83sWARNcontroller_managerOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us + 3.83sWARNros2_control_nodeOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.77sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4).[0m ×2 + 5.91sWARNcontroller_managerOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us + 5.92sWARNros2_control_nodeOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 33 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7).[0m ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3).[0m ×2 + 2.80sWARNcontroller_managerOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2).[0m ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780472.87934160 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780473.51396203 seconds. ×3 + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6).[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 36 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us[0m ×2 + 0.03sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780289.15276384 seconds ×3 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780289.74659777 seconds. ×3 + 0.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.70sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.70sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.12sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230900403 [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 + 1.12sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230937594 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13).[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us[0m ×2 + 1.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713328167 [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 + 1.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713359578 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.829008744 [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 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831682602 [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 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831703042 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.00sINFOobjective_server_node[0;93m2026-06-06 21:11:31.117538426 [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 + 2.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130322004 [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 + 2.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130360714 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780292.00803876 seconds ×3 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us[0m ×2 + 3.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780292.78123641 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.12sWARNcontroller_managerOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us + 4.12sWARNros2_control_nodeOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_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 + 4.70sINFOobjective_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 + 4.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6).[0m ×2 + 6.00sWARNcontroller_managerOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us + 6.00sWARNros2_control_nodeOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us[0m ×2 + 0.03sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780289.15276384 seconds ×3 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780289.74659777 seconds. ×3 + 0.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.70sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.70sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.12sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230900403 [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 + 1.12sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230937594 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13).[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us[0m ×2 + 1.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713328167 [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 + 1.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713359578 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.829008744 [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 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831682602 [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 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831703042 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.00sINFOobjective_server_node[0;93m2026-06-06 21:11:31.117538426 [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 + 2.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130322004 [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 + 2.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130360714 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780292.00803876 seconds ×3 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us[0m ×2 + 3.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780292.78123641 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.12sWARNcontroller_managerOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us + 4.12sWARNros2_control_nodeOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_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 + 4.70sINFOobjective_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 + 4.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6).[0m ×2 + 6.00sWARNcontroller_managerOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us + 6.00sWARNros2_control_nodeOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 27 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708875 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708875 ms (missed cycles : 4).[0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 6998.122 us (Expected < 1666.667 us) --> Read time : 160.913 us, Update time : 6448.121 us, Write time : 389.088 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 6998.122 us (Expected < 1666.667 us) --> Read time : 160.913 us, Update time : 6448.121 us, Write time : 389.088 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936144 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936144 ms (missed cycles : 3).[0m ×2 + 1.51sWARNcontroller_managerOverrun might occur, Total time : 1736.398 us (Expected < 1666.667 us) --> Read time : 147.254 us, Update time : 1269.147 us, Write time : 319.997 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 1736.398 us (Expected < 1666.667 us) --> Read time : 147.254 us, Update time : 1269.147 us, Write time : 319.997 us[0m ×2 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.698082 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.698082 ms (missed cycles : 7).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780780461.64111042 seconds ×3 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883311 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883311 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun might occur, Total time : 2679.699 us (Expected < 1666.667 us) --> Read time : 165.024 us, Update time : 907.660 us, Write time : 1607.015 us + 3.16sWARNros2_control_nodeOverrun might occur, Total time : 2679.699 us (Expected < 1666.667 us) --> Read time : 165.024 us, Update time : 907.660 us, Write time : 1607.015 us[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780780462.39766240 seconds. ×3 + 3.26sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.26sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.26sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution" + 3.26sINFOfoxglove_bridgeRemoving channel 82 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.26sINFOfoxglove_bridgeRemoving channel 81 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.26sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/preview_solution"[0m ×2 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.43sINFOros2_control_node[2026-06-06 21:14:22.633] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-06-06 21:14:22.633] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225083 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225083 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187544 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187544 ms (missed cycles : 5).[0m ×2 + 5.78sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures" + 5.78sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/pcd_pointcloud_captures"[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 33 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7).[0m ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3).[0m ×2 + 2.80sWARNcontroller_managerOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2).[0m ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780472.87934160 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780473.51396203 seconds. ×3 + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6).[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 36 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1700.037 us (Expected < 1666.667 us) --> Read time : 177.824 us, Update time : 39.311 us, Write time : 1482.902 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1700.037 us (Expected < 1666.667 us) --> Read time : 177.824 us, Update time : 39.311 us, Write time : 1482.902 us[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4).[0m ×2 + 1.76sWARNcontroller_managerOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us + 1.77sWARNros2_control_nodeOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us[0m ×2 + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.98sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.99sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7).[0m ×2 + 2.78sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780206.78508306 seconds ×3 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.89sWARNcontroller_managerOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us + 2.89sWARNros2_control_nodeOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780207.34712625 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780207.45726013 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780208.09420657 seconds. ×3 + 4.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 4.14sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us[0m ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5).[0m ×2 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.24sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 36 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1700.037 us (Expected < 1666.667 us) --> Read time : 177.824 us, Update time : 39.311 us, Write time : 1482.902 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1700.037 us (Expected < 1666.667 us) --> Read time : 177.824 us, Update time : 39.311 us, Write time : 1482.902 us[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4).[0m ×2 + 1.76sWARNcontroller_managerOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us + 1.77sWARNros2_control_nodeOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us[0m ×2 + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.98sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.99sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7).[0m ×2 + 2.78sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Canceling active goal... ×2 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780206.78508306 seconds ×3 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.89sWARNcontroller_managerOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us + 2.89sWARNros2_control_nodeOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780207.34712625 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780207.45726013 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780208.09420657 seconds. ×3 + 4.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 4.14sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us[0m ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5).[0m ×2 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.24sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 33 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.52sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7).[0m ×2 + 2.31sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780206.78508306 seconds ×3 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780207.34712625 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780207.45726013 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780208.09420657 seconds. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.67sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.83sWARNcontroller_managerOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us + 3.83sWARNros2_control_nodeOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.77sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4).[0m ×2 + 5.91sWARNcontroller_managerOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us + 5.92sWARNros2_control_nodeOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 33 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.52sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7).[0m ×2 + 2.31sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780206.78508306 seconds ×3 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780207.34712625 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780207.45726013 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780208.09420657 seconds. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.67sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.83sWARNcontroller_managerOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us + 3.83sWARNros2_control_nodeOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.77sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4).[0m ×2 + 5.91sWARNcontroller_managerOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us + 5.92sWARNros2_control_nodeOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 33 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950591 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283907 ms (missed cycles : 4).[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 2012.393 us (Expected < 1666.667 us) --> Read time : 147.493 us, Update time : 1623.625 us, Write time : 241.275 us[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.52sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-06-06 21:10:05.974] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.622814 ms (missed cycles : 7).[0m ×2 + 2.31sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-06-06 21:10:06.760] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780780206.78508306 seconds ×3 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 3704.140 us (Expected < 1666.667 us) --> Read time : 106.322 us, Update time : 3333.143 us, Write time : 264.675 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780780207.34712625 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780780207.45726013 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847598 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780780208.09420657 seconds. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.67sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.83sWARNcontroller_managerOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us + 3.83sWARNros2_control_nodeOverrun might occur, Total time : 1732.498 us (Expected < 1666.667 us) --> Read time : 131.063 us, Update time : 1369.480 us, Write time : 231.955 us[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218973 ms (missed cycles : 5).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.77sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-06-06 21:10:09.227] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458322 ms (missed cycles : 4).[0m ×2 + 5.91sWARNcontroller_managerOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us + 5.92sWARNros2_control_nodeOverrun might occur, Total time : 5293.905 us (Expected < 1666.667 us) --> Read time : 87.672 us, Update time : 4750.863 us, Write time : 455.370 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233683 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Accepted new action goal ×2 + 1.41sWARNcontroller_managerOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us + 1.42sWARNros2_control_nodeOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780233.22438717 seconds ×3 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2).[0m ×2 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780233.80272007 seconds. ×3 + 2.91sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.91sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780233.87284064 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780234.49303055 seconds. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.68sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Accepted new action goal ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us[0m ×2 + 3.92sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587854 ms (missed cycles : 4). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587854 ms (missed cycles : 4).[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 : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Accepted new action goal ×2 + 1.41sWARNcontroller_managerOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us + 1.42sWARNros2_control_nodeOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780233.22438717 seconds ×3 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2).[0m ×2 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780233.80272007 seconds. ×3 + 2.91sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.91sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780233.87284064 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780234.49303055 seconds. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.68sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Accepted new action goal ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us[0m ×2 + 3.92sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587854 ms (missed cycles : 4). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587854 ms (missed cycles : 4).[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 : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Accepted new action goal ×2 + 1.41sWARNcontroller_managerOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us + 1.42sWARNros2_control_nodeOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780233.22438717 seconds ×3 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2).[0m ×2 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780233.80272007 seconds. ×3 + 2.91sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.91sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780233.87284064 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780234.49303055 seconds. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.68sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Accepted new action goal ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us[0m ×2 + 3.92sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587854 ms (missed cycles : 4). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587854 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4507.097 us (Expected < 1666.667 us) --> Read time : 129.262 us, Update time : 4008.887 us, Write time : 368.948 us[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130000 ms (missed cycles : 2).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-06-06 21:10:31.837] [info] Accepted new action goal ×2 + 1.41sWARNcontroller_managerOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us + 1.42sWARNros2_control_nodeOverrun might occur, Total time : 11934.850 us (Expected < 1666.667 us) --> Read time : 148.583 us, Update time : 11366.988 us, Write time : 419.279 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865661 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780780233.22438717 seconds ×3 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479952 ms (missed cycles : 2).[0m ×2 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 2310.509 us (Expected < 1666.667 us) --> Read time : 167.183 us, Update time : 1821.719 us, Write time : 321.607 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780780233.80272007 seconds. ×3 + 2.91sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 2.91sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780780233.87284064 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728199 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780780234.49303055 seconds. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.68sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-06-06 21:10:34.606] [info] Accepted new action goal ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 3667.749 us (Expected < 1666.667 us) --> Read time : 142.143 us, Update time : 3172.628 us, Write time : 352.978 us[0m ×2 + 3.92sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.92sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220432 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868744 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 1983.593 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 1549.074 us, Write time : 312.987 us[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587854 ms (missed cycles : 4). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587854 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 36 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 36 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 36 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 36 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 36 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 36 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 36 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 36 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 36 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 36 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748110 ms (missed cycles : 3).[0m ×2 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 5226.154 us (Expected < 1666.667 us) --> Read time : 140.813 us, Update time : 4713.762 us, Write time : 371.579 us[0m ×2 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-06-06 21:10:42.604] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.269459 ms (missed cycles : 8).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 1794.250 us (Expected < 1666.667 us) --> Read time : 125.533 us, Update time : 1410.591 us, Write time : 258.126 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400204 ms (missed cycles : 2).[0m ×2 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780780244.85318303 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.951336 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 2828.061 us (Expected < 1666.667 us) --> Read time : 125.852 us, Update time : 2366.342 us, Write time : 335.867 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780780245.41963744 seconds. ×3 + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.60sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753159 ms (missed cycles : 3).[0m ×2 + 4.34sWARNcontroller_managerOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 1804.600 us (Expected < 1666.667 us) --> Read time : 132.233 us, Update time : 1282.208 us, Write time : 390.159 us[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-06-06 21:10:46.545] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535157 ms (missed cycles : 7).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 3742.222 us (Expected < 1666.667 us) --> Read time : 122.843 us, Update time : 3148.029 us, Write time : 471.350 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.139168 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 27 warnings · 69 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.07sINFOobjective_server_nodeFound path in 1 iterations (0.00201965 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 0.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOros2_control_node[2026-06-06 21:11:04.331] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-06-06 21:11:04.331] [info] Accepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761148 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761148 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_node[2026-06-06 21:11:04.773] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-06-06 21:11:04.773] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152444 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152444 ms (missed cycles : 5).[0m ×2 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 3459.625 us (Expected < 1666.667 us) --> Read time : 138.783 us, Update time : 3033.585 us, Write time : 287.257 us + 1.73sWARNros2_control_nodeOverrun might occur, Total time : 3459.625 us (Expected < 1666.667 us) --> Read time : 138.783 us, Update time : 3033.585 us, Write time : 287.257 us[0m ×2 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.41sINFOros2_control_node[2026-06-06 21:11:06.559] [info] Received new action goal ×2 + 2.41sINFOros2_control_node[2026-06-06 21:11:06.559] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802435 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802435 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_node[2026-06-06 21:11:06.862] [info] Got request to cancel active goal. ×2 + 2.71sINFOros2_control_node[2026-06-06 21:11:06.862] [info] Canceling active goal... ×2 + 2.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780780266.87662315 seconds ×3 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780780267.48830652 seconds. ×3 + 3.49sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.49sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.49sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.49sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801022 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801022 ms (missed cycles : 3).[0m ×2 + 3.52sINFOros2_control_node[2026-06-06 21:11:07.669] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-06-06 21:11:07.669] [info] Accepted new action goal ×2 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 5316.045 us (Expected < 1666.667 us) --> Read time : 142.503 us, Update time : 4736.813 us, Write time : 436.729 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 5316.045 us (Expected < 1666.667 us) --> Read time : 142.503 us, Update time : 4736.813 us, Write time : 436.729 us[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729405 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729405 ms (missed cycles : 3).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 6080.232 us (Expected < 1666.667 us) --> Read time : 95.012 us, Update time : 5620.942 us, Write time : 364.278 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 6080.232 us (Expected < 1666.667 us) --> Read time : 95.012 us, Update time : 5620.942 us, Write time : 364.278 us[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999830 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999830 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2_control_node[2026-06-06 21:11:10.039] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-06-06 21:11:10.039] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 39 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3002.655 us (Expected < 1666.667 us) --> Read time : 79.472 us, Update time : 2708.939 us, Write time : 214.244 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3002.655 us (Expected < 1666.667 us) --> Read time : 79.472 us, Update time : 2708.939 us, Write time : 214.244 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570971 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570971 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 3641.869 us (Expected < 1666.667 us) --> Read time : 156.094 us, Update time : 45.261 us, Write time : 3440.514 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 3641.869 us (Expected < 1666.667 us) --> Read time : 156.094 us, Update time : 45.261 us, Write time : 3440.514 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166068 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166068 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235367 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235367 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780780278.60363650 seconds ×3 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 3484.135 us (Expected < 1666.667 us) --> Read time : 251.865 us, Update time : 2664.028 us, Write time : 568.242 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 3484.135 us (Expected < 1666.667 us) --> Read time : 251.865 us, Update time : 2664.028 us, Write time : 568.242 us[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780780279.23112988 seconds. ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780279.31126618 seconds ×3 + 3.95sWARNcontroller_managerOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us + 3.95sWARNros2_control_nodeOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780279.86361384 seconds. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.07sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780281.98375535 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | 39 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7).[0m ×2 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780780279.23112988 seconds. ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.20sWARNcontroller_managerOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us + 0.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780279.31126618 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.75sWARNcontroller_managerOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us + 0.75sWARNros2_control_nodeOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780279.86361384 seconds. ×3 + 0.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 0.87sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us + 2.25sWARNros2_control_nodeOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780281.98375535 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780780282.53734350 seconds. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.54sINFOros2_control_node[2026-06-06 21:11:22.650] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-06-06 21:11:22.650] [info] Accepted new action goal ×2 + 3.66sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 3.66sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 3.66sWARNcontroller_managerOverrun might occur, Total time : 1780.459 us (Expected < 1666.667 us) --> Read time : 90.392 us, Update time : 1453.301 us, Write time : 236.766 us + 3.67sWARNros2_control_nodeOverrun might occur, Total time : 1780.459 us (Expected < 1666.667 us) --> Read time : 90.392 us, Update time : 1453.301 us, Write time : 236.766 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710539 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710539 ms (missed cycles : 3).[0m ×2 + 4.84sWARNcontroller_managerOverrun might occur, Total time : 2072.955 us (Expected < 1666.667 us) --> Read time : 152.344 us, Update time : 1644.575 us, Write time : 276.036 us + 4.84sWARNros2_control_nodeOverrun might occur, Total time : 2072.955 us (Expected < 1666.667 us) --> Read time : 152.344 us, Update time : 1644.575 us, Write time : 276.036 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092816 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092816 ms (missed cycles : 6).[0m ×2 + 5.99sWARNcontroller_managerOverrun might occur, Total time : 1814.050 us (Expected < 1666.667 us) --> Read time : 177.814 us, Update time : 1384.100 us, Write time : 252.136 us + 5.99sWARNros2_control_nodeOverrun might occur, Total time : 1814.050 us (Expected < 1666.667 us) --> Read time : 177.814 us, Update time : 1384.100 us, Write time : 252.136 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789237 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789237 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 39 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629648 ms (missed cycles : 7).[0m ×2 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780780279.23112988 seconds. ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.20sWARNcontroller_managerOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us + 0.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 2809.251 us (Expected < 1666.667 us) --> Read time : 94.412 us, Update time : 2362.981 us (Switch time : 2335.200 us (Switch chained mode time : 0.460 us, perform mode change time : 2.660 us, Activation time : 2327.430 us, Deactivation time : 0.450 us)), Write time : 351.858 us[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780780279.31126618 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.75sWARNcontroller_managerOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us + 0.75sWARNros2_control_nodeOverrun might occur, Total time : 8763.249 us (Expected < 1666.667 us) --> Read time : 120.362 us, Update time : 8115.776 us, Write time : 527.111 us[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780780279.86361384 seconds. ×3 + 0.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 0.87sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-06-06 21:11:19.977] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463298 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822423 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us + 2.25sWARNros2_control_nodeOverrun might occur, Total time : 1729.978 us (Expected < 1666.667 us) --> Read time : 242.486 us, Update time : 99.772 us, Write time : 1387.720 us[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780780281.98375535 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199047 ms (missed cycles : 7).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780780282.53734350 seconds. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.54sINFOros2_control_node[2026-06-06 21:11:22.650] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-06-06 21:11:22.650] [info] Accepted new action goal ×2 + 3.66sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 3.66sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 3.66sWARNcontroller_managerOverrun might occur, Total time : 1780.459 us (Expected < 1666.667 us) --> Read time : 90.392 us, Update time : 1453.301 us, Write time : 236.766 us + 3.67sWARNros2_control_nodeOverrun might occur, Total time : 1780.459 us (Expected < 1666.667 us) --> Read time : 90.392 us, Update time : 1453.301 us, Write time : 236.766 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710539 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710539 ms (missed cycles : 3).[0m ×2 + 4.84sWARNcontroller_managerOverrun might occur, Total time : 2072.955 us (Expected < 1666.667 us) --> Read time : 152.344 us, Update time : 1644.575 us, Write time : 276.036 us + 4.84sWARNros2_control_nodeOverrun might occur, Total time : 2072.955 us (Expected < 1666.667 us) --> Read time : 152.344 us, Update time : 1644.575 us, Write time : 276.036 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092816 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092816 ms (missed cycles : 6).[0m ×2 + 5.99sWARNcontroller_managerOverrun might occur, Total time : 1814.050 us (Expected < 1666.667 us) --> Read time : 177.814 us, Update time : 1384.100 us, Write time : 252.136 us + 5.99sWARNros2_control_nodeOverrun might occur, Total time : 1814.050 us (Expected < 1666.667 us) --> Read time : 177.814 us, Update time : 1384.100 us, Write time : 252.136 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789237 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789237 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us[0m ×2 + 0.03sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780289.15276384 seconds ×3 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780289.74659777 seconds. ×3 + 0.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.70sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.70sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.12sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230900403 [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 + 1.12sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230937594 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13).[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us[0m ×2 + 1.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713328167 [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 + 1.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713359578 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.829008744 [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 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831682602 [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 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831703042 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.00sINFOobjective_server_node[0;93m2026-06-06 21:11:31.117538426 [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 + 2.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130322004 [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 + 2.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130360714 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780292.00803876 seconds ×3 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us[0m ×2 + 3.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780292.78123641 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.12sWARNcontroller_managerOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us + 4.12sWARNros2_control_nodeOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_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 + 4.70sINFOobjective_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 + 4.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6).[0m ×2 + 6.00sWARNcontroller_managerOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us + 6.00sWARNros2_control_nodeOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3542.457 us (Expected < 1666.667 us) --> Read time : 160.323 us, Update time : 3033.976 us, Write time : 348.158 us[0m ×2 + 0.03sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780780289.15276384 seconds ×3 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.19sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814436 ms (missed cycles : 3).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780780289.74659777 seconds. ×3 + 0.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 0.70sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 0.70sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 0.70sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.12sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230900403 [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 + 1.12sINFOobjective_server_node[0;93m2026-06-06 21:11:30.230937594 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.707799 ms (missed cycles : 13).[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 3910.024 us (Expected < 1666.667 us) --> Read time : 115.842 us, Update time : 3218.420 us, Write time : 575.762 us[0m ×2 + 1.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713328167 [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 + 1.60sINFOobjective_server_node[0;93m2026-06-06 21:11:30.713359578 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.829008744 [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 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831682602 [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 + 1.71sINFOobjective_server_node[0;93m2026-06-06 21:11:30.831703042 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.00sINFOobjective_server_node[0;93m2026-06-06 21:11:31.117538426 [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 + 2.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130322004 [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 + 2.01sINFOobjective_server_node[0;93m2026-06-06 21:11:31.130360714 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.665355 ms (missed cycles : 7).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780780292.00803876 seconds ×3 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 5550.660 us (Expected < 1666.667 us) --> Read time : 334.328 us, Update time : 4588.519 us, Write time : 627.813 us[0m ×2 + 3.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.21sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746307 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780780292.78123641 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.12sWARNcontroller_managerOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us + 4.12sWARNros2_control_nodeOverrun might occur, Total time : 3564.067 us (Expected < 1666.667 us) --> Read time : 95.922 us, Update time : 3129.898 us, Write time : 338.247 us[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362912 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_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 + 4.70sINFOobjective_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 + 4.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.72sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-06-06 21:11:34.117] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.994863 ms (missed cycles : 6).[0m ×2 + 6.00sWARNcontroller_managerOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us + 6.00sWARNros2_control_nodeOverrun might occur, Total time : 1760.008 us (Expected < 1666.667 us) --> Read time : 95.342 us, Update time : 1259.287 us, Write time : 405.379 us[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953388 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 33 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250355 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250355 ms (missed cycles : 5).[0m ×2 + 0.04sWARNcontroller_managerOverrun might occur, Total time : 5379.767 us (Expected < 1666.667 us) --> Read time : 99.522 us, Update time : 4907.157 us, Write time : 373.088 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 5379.767 us (Expected < 1666.667 us) --> Read time : 99.522 us, Update time : 4907.157 us, Write time : 373.088 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862040 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862040 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100643 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100643 ms (missed cycles : 5).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780780347.30287480 seconds ×3 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 5273.276 us (Expected < 1666.667 us) --> Read time : 139.834 us, Update time : 4746.354 us, Write time : 387.088 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 5273.276 us (Expected < 1666.667 us) --> Read time : 139.834 us, Update time : 4746.354 us, Write time : 387.088 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681870 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681870 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780780347.91289663 seconds. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.49sINFOros2_control_node[2026-06-06 21:12:28.066] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-06-06 21:12:28.066] [info] Accepted new action goal ×2 + 3.76sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 3.76sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949970 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949970 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_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 + 4.76sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.81sINFOcontroller_managerSuccessfully switched controllers! + 4.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.09sWARNcontroller_managerOverrun might occur, Total time : 2605.077 us (Expected < 1666.667 us) --> Read time : 143.093 us, Update time : 2131.717 us, Write time : 330.267 us + 5.09sWARNros2_control_nodeOverrun might occur, Total time : 2605.077 us (Expected < 1666.667 us) --> Read time : 143.093 us, Update time : 2131.717 us, Write time : 330.267 us[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407287 ms (missed cycles : 5). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407287 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129431 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129431 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun might occur, Total time : 4806.196 us (Expected < 1666.667 us) --> Read time : 109.122 us, Update time : 4317.985 us, Write time : 379.089 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 4806.196 us (Expected < 1666.667 us) --> Read time : 109.122 us, Update time : 4317.985 us, Write time : 379.089 us[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 36 warnings · 2688 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×441 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×441 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×882 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×882 + 0.33sWARNcontroller_managerOverrun might occur, Total time : 3726.610 us (Expected < 1666.667 us) --> Read time : 96.512 us, Update time : 3291.461 us, Write time : 338.637 us + 0.33sWARNros2_control_nodeOverrun might occur, Total time : 3726.610 us (Expected < 1666.667 us) --> Read time : 96.512 us, Update time : 3291.461 us, Write time : 338.637 us[0m ×2 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652410 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652410 ms (missed cycles : 2).[0m ×2 + 1.46sWARNcontroller_managerOverrun might occur, Total time : 1992.483 us (Expected < 1666.667 us) --> Read time : 112.952 us, Update time : 1675.166 us, Write time : 204.365 us + 1.46sWARNros2_control_nodeOverrun might occur, Total time : 1992.483 us (Expected < 1666.667 us) --> Read time : 112.952 us, Update time : 1675.166 us, Write time : 204.365 us[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631712 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631712 ms (missed cycles : 3).[0m ×2 + 2.46sWARNcontroller_managerOverrun might occur, Total time : 3729.512 us (Expected < 1666.667 us) --> Read time : 79.622 us, Update time : 3275.182 us, Write time : 374.708 us + 2.46sWARNros2_control_nodeOverrun might occur, Total time : 3729.512 us (Expected < 1666.667 us) --> Read time : 79.622 us, Update time : 3275.182 us, Write time : 374.708 us[0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018803 ms (missed cycles : 3). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018803 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780780399.55339789 seconds ×3 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.68sINFOjoint_trajectory_controllerGoal reached, success! + 3.68sWARNcontroller_managerOverrun might occur, Total time : 1832.289 us (Expected < 1666.667 us) --> Read time : 124.882 us, Update time : 1361.449 us, Write time : 345.958 us + 3.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 1832.289 us (Expected < 1666.667 us) --> Read time : 124.882 us, Update time : 1361.449 us, Write time : 345.958 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780780400.13264632 seconds. ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.284257 ms (missed cycles : 7). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.284257 ms (missed cycles : 7).[0m ×2 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerSuccessfully switched controllers! + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 4.10sINFOros2_control_node[2026-06-06 21:13:20.314] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-06 21:13:20.314] [info] Accepted new action goal ×2 + 4.19sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 4.19sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 2522.105 us (Expected < 1666.667 us) --> Read time : 112.282 us, Update time : 2054.995 us, Write time : 354.828 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 2522.105 us (Expected < 1666.667 us) --> Read time : 112.282 us, Update time : 2054.995 us, Write time : 354.828 us[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973812 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973812 ms (missed cycles : 3).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438357 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438357 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun might occur, Total time : 3634.799 us (Expected < 1666.667 us) --> Read time : 97.462 us, Update time : 3166.769 us, Write time : 370.568 us + 6.56sWARNros2_control_nodeOverrun might occur, Total time : 3634.799 us (Expected < 1666.667 us) --> Read time : 97.462 us, Update time : 3166.769 us, Write time : 370.568 us[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 33 warnings · 3093 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×508 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×508 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×1016 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×1016 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694190 ms (missed cycles : 7). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694190 ms (missed cycles : 7).[0m ×2 + 1.30sWARNcontroller_managerOverrun might occur, Total time : 1907.281 us (Expected < 1666.667 us) --> Read time : 202.114 us, Update time : 1379.670 us, Write time : 325.497 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 1907.281 us (Expected < 1666.667 us) --> Read time : 202.114 us, Update time : 1379.670 us, Write time : 325.497 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764949 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764949 ms (missed cycles : 3).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627958 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627958 ms (missed cycles : 4).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 10387.846 us (Expected < 1666.667 us) --> Read time : 171.234 us, Update time : 9769.852 us, Write time : 446.760 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 10387.846 us (Expected < 1666.667 us) --> Read time : 171.234 us, Update time : 9769.852 us, Write time : 446.760 us[0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780780431.19754934 seconds ×3 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOros2_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 5.650470 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650470 ms (missed cycles : 4).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sWARNcontroller_managerOverrun might occur, Total time : 6490.340 us (Expected < 1666.667 us) --> Read time : 505.731 us, Update time : 5508.969 us, Write time : 475.640 us + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 6490.340 us (Expected < 1666.667 us) --> Read time : 505.731 us, Update time : 5508.969 us, Write time : 475.640 us[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780780431.81087303 seconds. ×3 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.36sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.36sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326773 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326773 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_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 + 4.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOcontroller_managerSuccessfully switched controllers! + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.07sINFOobjective_server_nodeFound path in 6 iterations (0.00448954 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 5.13sINFOros2_control_node[2026-06-06 21:13:52.985] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-06-06 21:13:52.985] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856739 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856739 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun might occur, Total time : 4759.723 us (Expected < 1666.667 us) --> Read time : 4424.796 us, Update time : 55.591 us, Write time : 279.336 us + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981259 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun might occur, Total time : 4759.723 us (Expected < 1666.667 us) --> Read time : 4424.796 us, Update time : 55.591 us, Write time : 279.336 us[0m ×2 + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981259 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 33 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7).[0m ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3).[0m ×2 + 2.80sWARNcontroller_managerOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2).[0m ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780472.87934160 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780473.51396203 seconds. ×3 + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6).[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 33 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7).[0m ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3).[0m ×2 + 2.80sWARNcontroller_managerOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2).[0m ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780472.87934160 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780473.51396203 seconds. ×3 + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6).[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 33 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7).[0m ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3).[0m ×2 + 2.80sWARNcontroller_managerOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2).[0m ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780472.87934160 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780473.51396203 seconds. ×3 + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6).[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 33 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7).[0m ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3).[0m ×2 + 2.80sWARNcontroller_managerOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2).[0m ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780472.87934160 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780473.51396203 seconds. ×3 + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6).[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 33 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7).[0m ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3).[0m ×2 + 2.80sWARNcontroller_managerOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2).[0m ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780472.87934160 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780473.51396203 seconds. ×3 + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6).[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 33 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7).[0m ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3).[0m ×2 + 2.80sWARNcontroller_managerOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2).[0m ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780472.87934160 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780473.51396203 seconds. ×3 + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6).[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 33 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.107711 ms (missed cycles : 7).[0m ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-06-06 21:14:29.806] [info] Accepted new action goal ×2 + 0.90sWARNcontroller_managerOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us + 0.90sWARNros2_control_nodeOverrun might occur, Total time : 4858.656 us (Expected < 1666.667 us) --> Read time : 145.673 us, Update time : 4271.633 us, Write time : 441.350 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291988 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-06-06 21:14:31.582] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531715 ms (missed cycles : 3).[0m ×2 + 2.80sWARNcontroller_managerOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 1873.631 us (Expected < 1666.667 us) --> Read time : 166.034 us, Update time : 1455.852 us, Write time : 251.745 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220408 ms (missed cycles : 2).[0m ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-06-06 21:14:32.859] [info] Canceling active goal... ×2 + 3.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780780472.87934160 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780780473.51396203 seconds. ×3 + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.98sINFOfoxglove_bridgeRemoving channel 85 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.98sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-06-06 21:14:33.687] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113058 ms (missed cycles : 6).[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1808.580 us (Expected < 1666.667 us) --> Read time : 124.983 us, Update time : 1378.160 us, Write time : 305.437 us[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939895 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 5337.097 us (Expected < 1666.667 us) --> Read time : 144.663 us, Update time : 4832.777 us, Write time : 359.657 us[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.739883 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 33 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1923.252 us (Expected < 1666.667 us) --> Read time : 92.032 us, Update time : 1323.689 us, Write time : 507.531 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1923.252 us (Expected < 1666.667 us) --> Read time : 92.032 us, Update time : 1323.689 us, Write time : 507.531 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548040 ms (missed cycles : 6). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548040 ms (missed cycles : 6).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.973488 ms (missed cycles : 6). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.973488 ms (missed cycles : 6).[0m ×2 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 5360.907 us (Expected < 1666.667 us) --> Read time : 139.233 us, Update time : 4828.426 us, Write time : 393.248 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 5360.907 us (Expected < 1666.667 us) --> Read time : 139.233 us, Update time : 4828.426 us, Write time : 393.248 us[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.929409 ms (missed cycles : 6). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.929409 ms (missed cycles : 6).[0m ×2 + 3.12sWARNcontroller_managerOverrun might occur, Total time : 1683.617 us (Expected < 1666.667 us) --> Read time : 101.232 us, Update time : 1343.060 us, Write time : 239.325 us + 3.12sWARNros2_control_nodeOverrun might occur, Total time : 1683.617 us (Expected < 1666.667 us) --> Read time : 101.232 us, Update time : 1343.060 us, Write time : 239.325 us[0m ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780780483.75427413 seconds ×3 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345467 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345467 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780780484.30367088 seconds. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.91sINFOros2_control_node[2026-06-06 21:14:44.533] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-06-06 21:14:44.533] [info] Accepted new action goal ×2 + 4.03sINFOfoxglove_bridgeRemoving channel 83 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.03sINFOfoxglove_bridgeRemoving channel 83 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 3557.428 us (Expected < 1666.667 us) --> Read time : 104.692 us, Update time : 3165.109 us, Write time : 287.627 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 3557.428 us (Expected < 1666.667 us) --> Read time : 104.692 us, Update time : 3165.109 us, Write time : 287.627 us[0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813008 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813008 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun might occur, Total time : 1972.273 us (Expected < 1666.667 us) --> Read time : 94.092 us, Update time : 1571.044 us, Write time : 307.137 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 1972.273 us (Expected < 1666.667 us) --> Read time : 94.092 us, Update time : 1571.044 us, Write time : 307.137 us[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224074 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224074 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 33 warnings · 27 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5321.487 us (Expected < 1666.667 us) --> Read time : 157.084 us, Update time : 4821.175 us, Write time : 343.228 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5321.487 us (Expected < 1666.667 us) --> Read time : 157.084 us, Update time : 4821.175 us, Write time : 343.228 us[0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596986 ms (missed cycles : 4). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596986 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 1786.159 us (Expected < 1666.667 us) --> Read time : 1316.869 us, Update time : 58.811 us, Write time : 410.479 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 1786.159 us (Expected < 1666.667 us) --> Read time : 1316.869 us, Update time : 58.811 us, Write time : 410.479 us[0m ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983957 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983957 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun might occur, Total time : 2267.580 us (Expected < 1666.667 us) --> Read time : 562.452 us, Update time : 518.852 us, Write time : 1186.276 us + 2.29sWARNros2_control_nodeOverrun might occur, Total time : 2267.580 us (Expected < 1666.667 us) --> Read time : 562.452 us, Update time : 518.852 us, Write time : 1186.276 us[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.641471 ms (missed cycles : 7). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.641471 ms (missed cycles : 7).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780780494.13575864 seconds ×3 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522623 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522623 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780780494.75088310 seconds. ×3 + 4.04sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/preview_solution" + 4.04sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/preview_solution"[0m ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-06-06 21:14:54.874] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-06-06 21:14:54.874] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun might occur, Total time : 5941.350 us (Expected < 1666.667 us) --> Read time : 151.903 us, Update time : 5439.159 us, Write time : 350.288 us + 4.88sWARNros2_control_nodeOverrun might occur, Total time : 5941.350 us (Expected < 1666.667 us) --> Read time : 151.903 us, Update time : 5439.159 us, Write time : 350.288 us[0m ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.059029 ms (missed cycles : 6). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.059029 ms (missed cycles : 6).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907008 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907008 ms (missed cycles : 3).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 6941.351 us (Expected < 1666.667 us) --> Read time : 125.153 us, Update time : 6212.335 us, Write time : 603.863 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 6941.351 us (Expected < 1666.667 us) --> Read time : 125.153 us, Update time : 6212.335 us, Write time : 603.863 us[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 37 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1696.989 us (Expected < 1666.667 us) --> Read time : 96.263 us, Update time : 42.532 us, Write time : 1558.194 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1696.989 us (Expected < 1666.667 us) --> Read time : 96.263 us, Update time : 42.532 us, Write time : 1558.194 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3).[0m ×2 + 1.83sWARNcontroller_managerOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us + 1.83sWARNros2_control_nodeOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2).[0m ×2 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780780504.86112142 seconds ×3 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780505.41603708 seconds. ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us + 4.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780505.48622465 seconds ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780506.03854299 seconds. ×3 + 4.68sINFOobjective_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 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780506.06128359 seconds ×3 + 4.73sWARNcontroller_managerOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us + 4.74sWARNros2_control_nodeOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780506.75077105 seconds. ×3 + 5.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3). | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 37 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1696.989 us (Expected < 1666.667 us) --> Read time : 96.263 us, Update time : 42.532 us, Write time : 1558.194 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1696.989 us (Expected < 1666.667 us) --> Read time : 96.263 us, Update time : 42.532 us, Write time : 1558.194 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3).[0m ×2 + 1.83sWARNcontroller_managerOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us + 1.83sWARNros2_control_nodeOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2).[0m ×2 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780780504.86112142 seconds ×3 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780505.41603708 seconds. ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us + 4.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780505.48622465 seconds ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780506.03854299 seconds. ×3 + 4.68sINFOobjective_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 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780506.06128359 seconds ×3 + 4.73sWARNcontroller_managerOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us + 4.74sWARNros2_control_nodeOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780506.75077105 seconds. ×3 + 5.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3). | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 37 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1696.989 us (Expected < 1666.667 us) --> Read time : 96.263 us, Update time : 42.532 us, Write time : 1558.194 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1696.989 us (Expected < 1666.667 us) --> Read time : 96.263 us, Update time : 42.532 us, Write time : 1558.194 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3).[0m ×2 + 1.83sWARNcontroller_managerOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us + 1.83sWARNros2_control_nodeOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2).[0m ×2 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780780504.86112142 seconds ×3 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780505.41603708 seconds. ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us + 4.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780505.48622465 seconds ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780506.03854299 seconds. ×3 + 4.68sINFOobjective_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 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780506.06128359 seconds ×3 + 4.73sWARNcontroller_managerOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us + 4.74sWARNros2_control_nodeOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780506.75077105 seconds. ×3 + 5.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3). | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 37 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1696.989 us (Expected < 1666.667 us) --> Read time : 96.263 us, Update time : 42.532 us, Write time : 1558.194 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1696.989 us (Expected < 1666.667 us) --> Read time : 96.263 us, Update time : 42.532 us, Write time : 1558.194 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728228 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3).[0m ×2 + 1.83sWARNcontroller_managerOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us + 1.83sWARNros2_control_nodeOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2).[0m ×2 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780780504.86112142 seconds ×3 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780505.41603708 seconds. ×3 + 4.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us + 4.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780505.48622465 seconds ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780506.03854299 seconds. ×3 + 4.68sINFOobjective_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 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780506.06128359 seconds ×3 + 4.73sWARNcontroller_managerOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us + 4.74sWARNros2_control_nodeOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780506.75077105 seconds. ×3 + 5.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3). | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 39 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911886 ms (missed cycles : 3).[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 1743.757 us (Expected < 1666.667 us) --> Read time : 75.071 us, Update time : 8.260 us, Write time : 1660.426 us[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961221 ms (missed cycles : 2).[0m ×2 + 1.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780780504.86112142 seconds ×3 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.91sWARNcontroller_managerOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us + 1.91sWARNros2_control_nodeOverrun might occur, Total time : 4413.787 us (Expected < 1666.667 us) --> Read time : 127.163 us, Update time : 3724.061 us, Write time : 562.563 us[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158232 ms (missed cycles : 5).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780780505.41603708 seconds. ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sWARNcontroller_managerOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNros2_control_nodeOverrun might occur, Total time : 2699.740 us (Expected < 1666.667 us) --> Read time : 112.963 us, Update time : 2315.221 us (Switch time : 2285.400 us (Switch chained mode time : 0.520 us, perform mode change time : 2.980 us, Activation time : 2277.670 us, Deactivation time : 0.371 us)), Write time : 271.556 us[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780780505.48622465 seconds ×3 + 2.78sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.78sINFOfoxglove_bridgeRemoving channel 86 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780780506.03854299 seconds. ×3 + 3.01sINFOobjective_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 + 3.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780780506.06128359 seconds ×3 + 3.06sWARNcontroller_managerOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us + 3.06sWARNros2_control_nodeOverrun might occur, Total time : 2404.593 us (Expected < 1666.667 us) --> Read time : 2029.345 us, Update time : 41.081 us, Write time : 334.167 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102807 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780780506.75077105 seconds. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.80sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-06-06 21:15:06.854] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259904 ms (missed cycles : 2).[0m ×2 + 4.29sWARNcontroller_managerOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 2644.137 us (Expected < 1666.667 us) --> Read time : 106.822 us, Update time : 29.691 us, Write time : 2507.624 us[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986080 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun might occur, Total time : 5331.306 us (Expected < 1666.667 us) --> Read time : 145.143 us, Update time : 4830.786 us, Write time : 355.377 us + 5.37sWARNros2_control_nodeOverrun might occur, Total time : 5331.306 us (Expected < 1666.667 us) --> Read time : 145.143 us, Update time : 4830.786 us, Write time : 355.377 us[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081164 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081164 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 39 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607640 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607640 ms (missed cycles : 4).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 9487.417 us (Expected < 1666.667 us) --> Read time : 129.293 us, Update time : 8948.995 us, Write time : 409.129 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 9487.417 us (Expected < 1666.667 us) --> Read time : 129.293 us, Update time : 8948.995 us, Write time : 409.129 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900035 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900035 ms (missed cycles : 3).[0m ×2 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 6644.745 us (Expected < 1666.667 us) --> Read time : 127.133 us, Update time : 6038.912 us, Write time : 478.700 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 6644.745 us (Expected < 1666.667 us) --> Read time : 127.133 us, Update time : 6038.912 us, Write time : 478.700 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2).[0m ×2 + 3.26sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Canceling active goal... ×2 + 3.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780516.85519671 seconds ×3 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780517.40183973 seconds. ×3 + 3.85sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 3.85sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us + 4.48sWARNros2_control_nodeOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us[0m ×2 + 4.85sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures" + 4.86sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures"[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780518.48198390 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3).[0m ×2 + 5.36sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.36sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780519.04297495 seconds. ×3 + 5.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.45sINFOobjective_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 + 5.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780519.04443860 seconds ×3 + 5.83sWARNcontroller_managerOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us + 5.83sWARNros2_control_nodeOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us[0m ×2 + 5.86sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.86sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 5.86sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.86sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 6.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780519.59829521 seconds. ×3 + 6.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780519.59873104 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5).[0m ×2 + 6.36sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 6.37sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 39 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607640 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607640 ms (missed cycles : 4).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 9487.417 us (Expected < 1666.667 us) --> Read time : 129.293 us, Update time : 8948.995 us, Write time : 409.129 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 9487.417 us (Expected < 1666.667 us) --> Read time : 129.293 us, Update time : 8948.995 us, Write time : 409.129 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900035 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900035 ms (missed cycles : 3).[0m ×2 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 6644.745 us (Expected < 1666.667 us) --> Read time : 127.133 us, Update time : 6038.912 us, Write time : 478.700 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 6644.745 us (Expected < 1666.667 us) --> Read time : 127.133 us, Update time : 6038.912 us, Write time : 478.700 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110624 ms (missed cycles : 2).[0m ×2 + 3.26sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-06-06 21:15:16.851] [info] Canceling active goal... ×2 + 3.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780780516.85519671 seconds ×3 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.27sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 2563.996 us (Expected < 1666.667 us) --> Read time : 152.953 us, Update time : 69.912 us, Write time : 2341.131 us[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780780517.40183973 seconds. ×3 + 3.85sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event" + 3.85sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/agent_event"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.353538 ms (missed cycles : 8).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us + 4.48sWARNros2_control_nodeOverrun might occur, Total time : 3603.179 us (Expected < 1666.667 us) --> Read time : 76.322 us, Update time : 3201.030 us, Write time : 325.827 us[0m ×2 + 4.85sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures" + 4.86sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/pcd_pointcloud_captures"[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780780518.48198390 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463200 ms (missed cycles : 3).[0m ×2 + 5.36sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.36sINFOfoxglove_bridgeRemoving channel 88 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780780519.04297495 seconds. ×3 + 5.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.45sINFOobjective_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 + 5.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780780519.04443860 seconds ×3 + 5.83sWARNcontroller_managerOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us + 5.83sWARNros2_control_nodeOverrun might occur, Total time : 5345.066 us (Expected < 1666.667 us) --> Read time : 149.723 us, Update time : 4807.425 us, Write time : 387.918 us[0m ×2 + 5.86sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.86sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 5.86sINFOfoxglove_bridgeRemoving channel 87 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.86sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 6.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780780519.59829521 seconds. ×3 + 6.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780780519.59873104 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103958 ms (missed cycles : 5).[0m ×2 + 6.36sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 6.37sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[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 | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.6s | 52 warnings · 656 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/2026-06-06-21-09-43-989097-e9dfc3d1fb24-9670 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.04sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.06sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.06sINFOcontroller_managerupdate rate is 600 Hz + 1.06sINFOcontroller_managerOverruns handling is : enabled + 1.06sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.06sWARNcontroller_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. + 1.20sINFOros2_control_node-1process started with pid [9717] ×2 + 1.20sINFOmove_group-9process started with pid [9743] ×2 + 1.20sINFOparameter_manager_node-10process started with pid [9744] ×2 + 1.20sINFOwaypoint_manager_node-11process started with pid [9745] ×2 + 1.20sINFOmove_joint_resampler_node-12process started with pid [9746] ×2 + 1.21sINFOmove_end_effector_resampler_node-13process started with pid [9747] ×2 + 1.21sINFOobjective_server_node_main-14process started with pid [9748] ×2 + 1.21sINFOcomponent_container_mt-15process started with pid [9749] ×2 + 1.21sINFOexecute_objective_bridge-16process started with pid [9750] ×2 + 1.21sINFOui_teleop_bridge-17process started with pid [9751] ×2 + 1.21sINFOfoxglove_bridge-18process started with pid [9770] ×2 + 1.21sINFOtf2_web_republisher_node-19process started with pid [9771] ×2 + 1.21sINFOweb_video_server-20process started with pid [9878] ×2 + 1.21sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9718] ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9719] ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9720] ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9721] ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9725] ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9727] ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9728] ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867356 ms (missed cycles : 2). + 1.22sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.22sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.22sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.22sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.22sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.22sWARNros2_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 + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867356 ms (missed cycles : 2).[0m ×2 + 1.24sINFOcontroller_managerReceived robot description from topic. + 1.24sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.24sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.24sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.25sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.26sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.42sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.42sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.43sINFOfoxglove_bridgeServer listening on port 3201 + 1.43sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.43sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description_semantic" + 1.43sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description_semantic"[0m ×2 + 1.45sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/store_joint_state" + 1.45sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 1.45sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/move_joint" + 1.45sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 1.45sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat" + 1.45sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat"[0m ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" + 1.46sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/joint_states" + 1.46sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/joint_states"[0m ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/controller_manager/statistics/values" + 1.46sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/controller_manager/statistics/values"[0m ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/controller_manager/statistics/full" + 1.46sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/controller_manager/statistics/full"[0m ×2 + 1.47sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf" + 1.47sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf"[0m ×2 + 1.47sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/diagnostics" + 1.47sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/diagnostics"[0m ×2 + 1.47sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/values" + 1.47sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description" + 1.47sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/values"[0m ×2 + 1.47sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description"[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/introspection_data/names" + 1.48sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/introspection_data/full" + 1.48sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/introspection_data/names"[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/introspection_data/full"[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_manager/activity" + 1.48sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/controller_manager/statistics/names" + 1.48sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/agent_interface/move_joint" + 1.48sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/tf_static" + 1.49sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/rosout" + 1.49sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_manager/activity"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/controller_manager/statistics/names"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/agent_interface/move_joint"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/tf_static"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/rosout"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/parameter_events" + 1.49sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/parameter_events"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_end_effector" + 1.49sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_end_effector"[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.59sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 1.59sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.10sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.10sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.10sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world" + 2.17sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world"[0m ×2 + 2.19sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene" + 2.19sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.19sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene"[0m ×2 + 2.19sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.19sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 2.20sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 2.20sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 2.20sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 2.21sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 2.22sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 2.26sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.26sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.26sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.27sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692253 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692253 ms (missed cycles : 2).[0m ×2 + 2.38sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.43sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.26sINFOobjective_server_node[2026-06-06 21:09:47.836] [moveit_pro_license] [info] ×2 + 3.26sINFOobjective_server_node************************************************* ×4 + 3.26sINFOobjective_server_node* MoveIt Pro License ×2 + 3.26sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.45sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics" + 3.45sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics"[0m ×2 + 3.45sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector" + 3.45sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector"[0m ×2 + 3.45sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description" + 3.45sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m ×2 + 3.46sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.46sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.46sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.46sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.46sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.46sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.46sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.46sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.46sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.46sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.46sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.46sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.46sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.58sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.62sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.62sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 3.66sINFOobjective_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 + 3.66sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.67sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.67sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.67sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.67sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.67sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.67sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.67sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.67sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.68sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.68sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.68sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.68sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.68sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.68sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.68sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.68sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.69sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.69sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 3.69sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 3.70sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 3.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 3.70sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.70sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.70sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.70sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.70sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.71sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.71sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 3.71sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 3.71sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.72sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 3.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 3.72sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 3.76sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.80sINFOmove_group ×4 + 3.80sINFOmove_group[92mYou can start planning now![0m ×2 + 3.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361409 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361409 ms (missed cycles : 2).[0m ×2 + 4.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/points" + 4.01sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/points"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/depth" + 4.01sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/color" + 4.02sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/depth"[0m ×2 + 4.02sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/color"[0m ×2 + 4.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9720] ×2 + 4.02sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/visual_markers" + 4.02sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/visual_markers"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/transient_monitored_planning_scene_without_octomap" + 4.03sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/depth" + 4.03sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color" + 4.03sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/points" + 4.03sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/trajectory_execution_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/depth"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/points"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/trajectory_execution_event"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_state_broadcaster/transition_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/scene_camera/camera_info" + 4.03sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/scene_camera/camera_info"[0m ×2 + 4.04sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/dynamic_joint_states" + 4.04sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/wrist_camera/camera_info" + 4.04sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/blackboard_contents" + 4.04sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/dynamic_joint_states"[0m ×2 + 4.04sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/wrist_camera/camera_info"[0m ×2 + 4.04sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/blackboard_contents"[0m ×2 + 4.04sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status" + 4.04sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/behavior_tree_status"[0m ×2 + 4.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 4.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 4.15sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 4.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 4.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.15sINFOros2_control_node[2026-06-06 21:09:48.729] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.15sINFOros2_control_node[2026-06-06 21:09:48.729] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.18sINFOros2_control_node[2026-06-06 21:09:48.755] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.18sINFOros2_control_node[2026-06-06 21:09:48.755] [info] Controller state will be published at 50 Hz. ×2 + 4.18sINFOros2_control_node[2026-06-06 21:09:48.761] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.44sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 4.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 4.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9725] ×2 + 4.51sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 4.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 4.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.51sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.51sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.51sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.51sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 4.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 4.74sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/speed_scaling_input" + 4.74sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 4.74sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory" + 4.74sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 4.75sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/controller_state" + 4.75sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/transition_event" + 4.75sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state" + 4.75sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/transition_event" + 4.75sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 4.75sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 4.75sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 4.75sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 4.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.80sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.80sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.80sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 4.80sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 4.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9721] ×2 + 4.84sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 4.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 4.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.85sINFOforce_torque_sensor_broadcasterconfigure successful + 4.85sINFOros2_control_nodeconfigure successful[0m ×2 + 4.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 4.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 5.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9718] ×2 + 5.15sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.15sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.15sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.15sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.15sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 5.15sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 5.16sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.16sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.232239 ms (missed cycles : 8). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.232239 ms (missed cycles : 8).[0m ×2 + 5.19sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 5.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 5.19sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.19sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.19sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3173.100 us (Expected < 1666.667 us) --> Read time : 98.052 us, Update time : 2818.762 us (Switch time : 2783.911 us (Switch chained mode time : 0.490 us, perform mode change time : 1.690 us, Activation time : 2778.011 us, Deactivation time : 0.350 us)), Write time : 256.286 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3173.100 us (Expected < 1666.667 us) --> Read time : 98.052 us, Update time : 2818.762 us (Switch time : 2783.911 us (Switch chained mode time : 0.490 us, perform mode change time : 1.690 us, Activation time : 2778.011 us, Deactivation time : 0.350 us)), Write time : 256.286 us[0m ×2 + 5.20sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 5.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 5.24sWARNobjective_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 + 5.28sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.29sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event" + 5.29sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 5.30sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench" + 5.30sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 5.30sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/force_torque_sensor_broadcaster/transition_event" + 5.30sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 5.30sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 5.30sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 5.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 5.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 5.49sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9719] ×2 + 5.52sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.52sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.52sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.52sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.58sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 5.58sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 5.62sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 5.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 5.62sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.62sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.64sINFOros2_control_node[2026-06-06 21:09:50.222] [info] Controller state will be published at 20 Hz. ×2 + 5.64sINFOros2_control_node[2026-06-06 21:09:50.223] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.83sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/transition_event" + 5.83sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 5.83sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/controller_state" + 5.83sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/command" + 5.84sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 5.84sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/command"[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780780190.55816150 seconds. ×3 + 5.98sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.98sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.98sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.98sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780780190.56840134 seconds ×3 + 6.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9728] ×2 + 6.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 6.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 6.08sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 6.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 6.09sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.09sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.11sINFOros2_control_node[2026-06-06 21:09:50.689] [info] Controller state will be published at 10 Hz. ×2 + 6.11sINFOros2_control_node[2026-06-06 21:09:50.690] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.38sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 6.38sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 6.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 6.38sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 6.38sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 6.38sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 6.38sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 6.38sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5).[0m ×2 + 6.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9727] ×2 + 6.53sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780191.11016655 seconds. ×3 + 6.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.92sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 6.92sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8).[0m ×2 + 7.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 8.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 8.21sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 8.22sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 9.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 9.67sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 9.68sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 9.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 9.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 39 warnings · 128 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 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8).[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 1.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 4.00sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 4.00sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.23sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 4.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.23sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.83sINFOobjective_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 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.93sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 6.56sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.73sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 7.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 7.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.42sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 7.42sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 42 warnings · 134 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 0.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5).[0m ×2 + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9727] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780191.11016655 seconds. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.54sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.55sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 1.83sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 4.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.77sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 4.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.47sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 5.63sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 7.11sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 7.28sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 223 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/2026-06-06-21-09-43-989097-e9dfc3d1fb24-9670 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.04sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.06sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.06sINFOcontroller_managerupdate rate is 600 Hz + 1.06sINFOcontroller_managerOverruns handling is : enabled + 1.06sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.06sWARNcontroller_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. + 1.20sINFOros2_control_node-1process started with pid [9717] ×2 + 1.20sINFOmove_group-9process started with pid [9743] ×2 + 1.20sINFOparameter_manager_node-10process started with pid [9744] ×2 + 1.20sINFOwaypoint_manager_node-11process started with pid [9745] ×2 + 1.20sINFOmove_joint_resampler_node-12process started with pid [9746] ×2 + 1.21sINFOmove_end_effector_resampler_node-13process started with pid [9747] ×2 + 1.21sINFOobjective_server_node_main-14process started with pid [9748] ×2 + 1.21sINFOcomponent_container_mt-15process started with pid [9749] ×2 + 1.21sINFOexecute_objective_bridge-16process started with pid [9750] ×2 + 1.21sINFOui_teleop_bridge-17process started with pid [9751] ×2 + 1.21sINFOfoxglove_bridge-18process started with pid [9770] ×2 + 1.21sINFOtf2_web_republisher_node-19process started with pid [9771] ×2 + 1.21sINFOweb_video_server-20process started with pid [9878] ×2 + 1.21sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9718] ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9719] ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9720] ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9721] ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9725] ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9727] ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9728] ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867356 ms (missed cycles : 2). + 1.22sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.22sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.22sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.22sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.22sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.22sWARNros2_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 + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867356 ms (missed cycles : 2).[0m ×2 + 1.24sINFOcontroller_managerReceived robot description from topic. + 1.24sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.24sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.24sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.25sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.26sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.27sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.42sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.42sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.43sINFOfoxglove_bridgeServer listening on port 3201 + 1.43sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.43sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description_semantic" + 1.43sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description_semantic"[0m ×2 + 1.45sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/store_joint_state" + 1.45sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 1.45sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/move_joint" + 1.45sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 1.45sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat" + 1.45sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat"[0m ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" + 1.46sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/joint_states" + 1.46sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/joint_states"[0m ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/controller_manager/statistics/values" + 1.46sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/controller_manager/statistics/values"[0m ×2 + 1.46sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/controller_manager/statistics/full" + 1.46sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/controller_manager/statistics/full"[0m ×2 + 1.47sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf" + 1.47sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf"[0m ×2 + 1.47sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/diagnostics" + 1.47sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/diagnostics"[0m ×2 + 1.47sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/values" + 1.47sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description" + 1.47sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/values"[0m ×2 + 1.47sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description"[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/introspection_data/names" + 1.48sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/introspection_data/full" + 1.48sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/introspection_data/names"[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/introspection_data/full"[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_manager/activity" + 1.48sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/controller_manager/statistics/names" + 1.48sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/agent_interface/move_joint" + 1.48sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/tf_static" + 1.49sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/rosout" + 1.49sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_manager/activity"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/controller_manager/statistics/names"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/agent_interface/move_joint"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/tf_static"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/rosout"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/parameter_events" + 1.49sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/parameter_events"[0m ×2 + 1.49sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_end_effector" + 1.49sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_end_effector"[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.59sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.59sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 1.59sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.10sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.10sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.10sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world" + 2.17sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world"[0m ×2 + 2.19sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene" + 2.19sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.19sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene"[0m ×2 + 2.19sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.19sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 2.20sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 2.20sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 2.20sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 2.21sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 2.22sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 2.26sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.26sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.26sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.27sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692253 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692253 ms (missed cycles : 2).[0m ×2 + 2.38sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.43sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.26sINFOobjective_server_node[2026-06-06 21:09:47.836] [moveit_pro_license] [info] ×2 + 3.26sINFOobjective_server_node************************************************* ×4 + 3.26sINFOobjective_server_node* MoveIt Pro License ×2 + 3.26sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 41 warnings · 262 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/speed_scaling_input" + 0.00sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory" + 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9721] ×2 + 0.10sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.10sINFOforce_torque_sensor_broadcasterconfigure successful + 0.10sINFOros2_control_nodeconfigure successful[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.11sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9718] ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.232239 ms (missed cycles : 8). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.232239 ms (missed cycles : 8).[0m ×2 + 0.45sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.45sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.45sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.45sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 3173.100 us (Expected < 1666.667 us) --> Read time : 98.052 us, Update time : 2818.762 us (Switch time : 2783.911 us (Switch chained mode time : 0.490 us, perform mode change time : 1.690 us, Activation time : 2778.011 us, Deactivation time : 0.350 us)), Write time : 256.286 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 3173.100 us (Expected < 1666.667 us) --> Read time : 98.052 us, Update time : 2818.762 us (Switch time : 2783.911 us (Switch chained mode time : 0.490 us, perform mode change time : 1.690 us, Activation time : 2778.011 us, Deactivation time : 0.350 us)), Write time : 256.286 us[0m ×2 + 0.46sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.49sWARNobjective_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 + 0.53sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event" + 0.55sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench" + 0.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.55sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.55sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9719] ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.88sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.90sINFOros2_control_node[2026-06-06 21:09:50.222] [info] Controller state will be published at 20 Hz. ×2 + 0.90sINFOros2_control_node[2026-06-06 21:09:50.223] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/transition_event" + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/controller_state" + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/command" + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/command"[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780780190.55816150 seconds. ×3 + 1.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780780190.56840134 seconds ×3 + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9728] ×2 + 1.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 1.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 1.34sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.37sINFOros2_control_node[2026-06-06 21:09:50.689] [info] Controller state will be published at 10 Hz. ×2 + 1.37sINFOros2_control_node[2026-06-06 21:09:50.690] [info] VelocityForceController 'on_configure' succeeded. ×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 + 1.64sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 1.64sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 1.64sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 1.64sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.64sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.64sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5).[0m ×2 + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9727] ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780191.11016655 seconds. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_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 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 4.93sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 4.93sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 5.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 5.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 6.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.40sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 6.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.41sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 41 warnings · 262 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/speed_scaling_input" + 0.00sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory" + 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9721] ×2 + 0.10sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.10sINFOforce_torque_sensor_broadcasterconfigure successful + 0.10sINFOros2_control_nodeconfigure successful[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.11sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9718] ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.232239 ms (missed cycles : 8). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.232239 ms (missed cycles : 8).[0m ×2 + 0.45sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.45sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.45sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.45sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 3173.100 us (Expected < 1666.667 us) --> Read time : 98.052 us, Update time : 2818.762 us (Switch time : 2783.911 us (Switch chained mode time : 0.490 us, perform mode change time : 1.690 us, Activation time : 2778.011 us, Deactivation time : 0.350 us)), Write time : 256.286 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 3173.100 us (Expected < 1666.667 us) --> Read time : 98.052 us, Update time : 2818.762 us (Switch time : 2783.911 us (Switch chained mode time : 0.490 us, perform mode change time : 1.690 us, Activation time : 2778.011 us, Deactivation time : 0.350 us)), Write time : 256.286 us[0m ×2 + 0.46sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.49sWARNobjective_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 + 0.53sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event" + 0.55sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench" + 0.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.55sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.55sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9719] ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.88sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.90sINFOros2_control_node[2026-06-06 21:09:50.222] [info] Controller state will be published at 20 Hz. ×2 + 0.90sINFOros2_control_node[2026-06-06 21:09:50.223] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/transition_event" + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/controller_state" + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/command" + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/command"[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780780190.55816150 seconds. ×3 + 1.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780780190.56840134 seconds ×3 + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9728] ×2 + 1.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 1.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 1.34sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.37sINFOros2_control_node[2026-06-06 21:09:50.689] [info] Controller state will be published at 10 Hz. ×2 + 1.37sINFOros2_control_node[2026-06-06 21:09:50.690] [info] VelocityForceController 'on_configure' succeeded. ×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 + 1.64sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 1.64sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 1.64sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 1.64sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.64sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.64sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5).[0m ×2 + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9727] ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780191.11016655 seconds. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_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 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 4.93sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 4.93sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 5.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 5.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 6.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.40sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 6.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.41sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 41 warnings · 262 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/speed_scaling_input" + 0.00sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory" + 0.00sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9721] ×2 + 0.10sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.10sINFOforce_torque_sensor_broadcasterconfigure successful + 0.10sINFOros2_control_nodeconfigure successful[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.11sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9718] ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.232239 ms (missed cycles : 8). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.232239 ms (missed cycles : 8).[0m ×2 + 0.45sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.45sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.45sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.45sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 3173.100 us (Expected < 1666.667 us) --> Read time : 98.052 us, Update time : 2818.762 us (Switch time : 2783.911 us (Switch chained mode time : 0.490 us, perform mode change time : 1.690 us, Activation time : 2778.011 us, Deactivation time : 0.350 us)), Write time : 256.286 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 3173.100 us (Expected < 1666.667 us) --> Read time : 98.052 us, Update time : 2818.762 us (Switch time : 2783.911 us (Switch chained mode time : 0.490 us, perform mode change time : 1.690 us, Activation time : 2778.011 us, Deactivation time : 0.350 us)), Write time : 256.286 us[0m ×2 + 0.46sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.49sWARNobjective_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 + 0.53sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event" + 0.55sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench" + 0.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.55sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.55sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.55sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9719] ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 0.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 0.88sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.90sINFOros2_control_node[2026-06-06 21:09:50.222] [info] Controller state will be published at 20 Hz. ×2 + 0.90sINFOros2_control_node[2026-06-06 21:09:50.223] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/transition_event" + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/controller_state" + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/command" + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_velocity_controller/command"[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780780190.55816150 seconds. ×3 + 1.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780780190.56840134 seconds ×3 + 1.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9728] ×2 + 1.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza + 1.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsd2f5x4 --params-file /tmp/launch_params_vi2admw9 --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_q0uk033j --params-file /tmp/launch_params_dw1zsxza [0m ×2 + 1.34sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.37sINFOros2_control_node[2026-06-06 21:09:50.689] [info] Controller state will be published at 10 Hz. ×2 + 1.37sINFOros2_control_node[2026-06-06 21:09:50.690] [info] VelocityForceController 'on_configure' succeeded. ×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 + 1.64sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 1.64sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 1.64sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 1.64sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.64sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.64sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5).[0m ×2 + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9727] ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780191.11016655 seconds. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_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 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 4.93sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 4.93sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 5.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 5.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 6.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.40sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 6.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.41sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 36 warnings · 132 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 0.00sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 0.00sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 0.00sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 0.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103304 ms (missed cycles : 5).[0m ×2 + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9727] ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780780191.11016655 seconds. ×3 + 0.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.54sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.55sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 1.83sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 4.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.77sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 4.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.47sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 5.63sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[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 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.214920 ms (missed cycles : 8).[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 1.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 4.00sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 4.00sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.23sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 4.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.23sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.83sINFOobjective_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 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.93sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 6.56sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.73sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×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: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927585 ms (missed cycles : 3). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927585 ms (missed cycles : 3).[0m ×2 + 7.11sWARNcontroller_managerOverrun might occur, Total time : 2088.066 us (Expected < 1666.667 us) --> Read time : 139.223 us, Update time : 1541.204 us, Write time : 407.639 us + 7.11sWARNros2_control_nodeOverrun might occur, Total time : 2088.066 us (Expected < 1666.667 us) --> Read time : 139.223 us, Update time : 1541.204 us, Write time : 407.639 us[0m ×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 | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 36 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780780192.18035316 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780780192.75826716 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1767.919 us (Expected < 1666.667 us) --> Read time : 166.114 us, Update time : 233.115 us, Write time : 1368.690 us[0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280687 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780780193.76843524 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986861 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1984.923 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1511.373 us, Write time : 326.707 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780780194.31038666 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780780194.33483505 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780780194.88338971 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780780195.03390861 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067619 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 1858.339 us (Expected < 1666.667 us) --> Read time : 194.464 us, Update time : 121.532 us, Write time : 1542.343 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780780195.65955520 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.55sWARNcontroller_managerOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 2697.738 us (Expected < 1666.667 us) --> Read time : 102.442 us, Update time : 2340.811 us (Switch time : 2317.601 us (Switch chained mode time : 0.440 us, perform mode change time : 2.600 us, Activation time : 2309.380 us, Deactivation time : 0.330 us)), Write time : 254.485 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780780195.73984385 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159549 ms (missed cycles : 5).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780780196.31964540 seconds. ×3 + 4.15sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (1.7511e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-06 21:09:56.425] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us + 4.40sWARNros2_control_nodeOverrun might occur, Total time : 3458.375 us (Expected < 1666.667 us) --> Read time : 118.992 us, Update time : 3102.138 us, Write time : 237.245 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581635 ms (missed cycles : 7).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.09% of iterations over budget over 0:10.001 of wall time (3/3168). Below 1% is expected on a non-realtime system.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708328 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1777.359 us (Expected < 1666.667 us) --> Read time : 132.453 us, Update time : 1384.340 us, Write time : 260.566 us[0m ×2 + 6.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-06-06 21:09:58.923] [info] Accepted new action goal ×2 | ||||