118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
8.9s
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 | 42.9s | 246 warnings · 280 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.02sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781109805.36535859 seconds ×3 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781109805.97581768 seconds. ×3 + 0.68sWARNcontroller_managerOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us + 0.68sWARNros2_control_nodeOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us[0m ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.05sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.05sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.12sINFOobjective_server_node[0;93m2026-06-10 16:43:26.456696700 [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;93m2026-06-10 16:43:26.456726401 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-10 16:43:26.969989669 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-10 16:43:26.970023420 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.063907501 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066910246 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066951857 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.89sWARNcontroller_managerOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us + 1.89sWARNros2_control_nodeOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us[0m ×2 + 2.01sINFOobjective_server_node[0;93m2026-06-10 16:43:27.349096611 [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 + 2.03sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367070068 [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 + 2.03sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367103079 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781109808.25474668 seconds ×3 + 2.99sWARNcontroller_managerOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us[0m ×2 + 3.35sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.36sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781109809.01011610 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.86sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.86sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us[0m ×2 + 4.65sINFOobjective_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 + 4.66sINFOobjective_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 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.98sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Accepted new action goal ×2 + 5.14sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 5.14sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us + 6.24sWARNros2_control_nodeOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732244 ms (missed cycles : 4). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732244 ms (missed cycles : 4).[0m ×2 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 7.82sINFOros2_control_node[2026-06-10 16:43:33.163] [info] Received new action goal ×2 + 7.82sINFOros2_control_node[2026-06-10 16:43:33.164] [info] Accepted new action goal ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600730 ms (missed cycles : 4). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600730 ms (missed cycles : 4).[0m ×2 + 8.38sWARNcontroller_managerOverrun might occur, Total time : 6702.371 us (Expected < 1666.667 us) --> Read time : 130.434 us, Update time : 6117.324 us, Write time : 454.613 us + 8.38sWARNros2_control_nodeOverrun might occur, Total time : 6702.371 us (Expected < 1666.667 us) --> Read time : 130.434 us, Update time : 6117.324 us, Write time : 454.613 us[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747976 ms (missed cycles : 3). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747976 ms (missed cycles : 3).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859197 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859197 ms (missed cycles : 3).[0m ×2 + 10.79sWARNcontroller_managerOverrun might occur, Total time : 3860.969 us (Expected < 1666.667 us) --> Read time : 130.164 us, Update time : 3325.204 us, Write time : 405.601 us + 10.79sWARNros2_control_nodeOverrun might occur, Total time : 3860.969 us (Expected < 1666.667 us) --> Read time : 130.164 us, Update time : 3325.204 us, Write time : 405.601 us[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042369 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042369 ms (missed cycles : 3).[0m ×2 + 10.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 11.01sINFOros2_control_node[2026-06-10 16:43:36.354] [info] Received new action goal ×2 + 11.01sINFOros2_control_node[2026-06-10 16:43:36.354] [info] Accepted new action goal ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105363 ms (missed cycles : 6). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105363 ms (missed cycles : 6).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197145 ms (missed cycles : 5). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197145 ms (missed cycles : 5).[0m ×2 + 12.97sWARNcontroller_managerOverrun might occur, Total time : 4475.646 us (Expected < 1666.667 us) --> Read time : 99.263 us, Update time : 3939.831 us, Write time : 436.552 us + 12.97sWARNros2_control_nodeOverrun might occur, Total time : 4475.646 us (Expected < 1666.667 us) --> Read time : 99.263 us, Update time : 3939.831 us, Write time : 436.552 us[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162960 ms (missed cycles : 4). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162960 ms (missed cycles : 4).[0m ×2 + 13.98sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 13.98sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.00sWARNcontroller_managerOverrun might occur, Total time : 3707.955 us (Expected < 1666.667 us) --> Read time : 130.784 us, Update time : 3087.738 us, Write time : 489.433 us + 14.00sWARNros2_control_nodeOverrun might occur, Total time : 3707.955 us (Expected < 1666.667 us) --> Read time : 130.784 us, Update time : 3087.738 us, Write time : 489.433 us[0m ×2 + 14.02sINFOros2_control_node[2026-06-10 16:43:39.357] [info] Received new action goal ×2 + 14.02sINFOros2_control_node[2026-06-10 16:43:39.357] [info] Accepted new action goal ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405164 ms (missed cycles : 5). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405164 ms (missed cycles : 5).[0m ×2 + 15.20sWARNcontroller_managerOverrun might occur, Total time : 1980.126 us (Expected < 1666.667 us) --> Read time : 160.924 us, Update time : 1404.100 us, Write time : 415.102 us + 15.21sWARNros2_control_nodeOverrun might occur, Total time : 1980.126 us (Expected < 1666.667 us) --> Read time : 160.924 us, Update time : 1404.100 us, Write time : 415.102 us[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335143 ms (missed cycles : 5). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335143 ms (missed cycles : 5).[0m ×2 + 16.73sWARNcontroller_managerOverrun might occur, Total time : 1922.355 us (Expected < 1666.667 us) --> Read time : 156.894 us, Update time : 59.262 us, Write time : 1706.199 us + 16.73sWARNros2_control_nodeOverrun might occur, Total time : 1922.355 us (Expected < 1666.667 us) --> Read time : 156.894 us, Update time : 59.262 us, Write time : 1706.199 us[0m ×2 + 16.96sINFOobjective_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 + 16.96sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.96sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.96sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 16.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.96sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781963 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781963 ms (missed cycles : 3).[0m ×2 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716084 ms (missed cycles : 2). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716084 ms (missed cycles : 2).[0m ×2 + 18.29sWARNcontroller_managerOverrun might occur, Total time : 1983.407 us (Expected < 1666.667 us) --> Read time : 164.955 us, Update time : 162.655 us, Write time : 1655.797 us + 18.29sWARNros2_control_nodeOverrun might occur, Total time : 1983.407 us (Expected < 1666.667 us) --> Read time : 164.955 us, Update time : 162.655 us, Write time : 1655.797 us[0m ×2 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.711979 ms (missed cycles : 7). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.711979 ms (missed cycles : 7).[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686164 ms (missed cycles : 2). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686164 ms (missed cycles : 2).[0m ×2 + 20.62sWARNcontroller_managerOverrun might occur, Total time : 2077.259 us (Expected < 1666.667 us) --> Read time : 118.594 us, Update time : 1650.957 us, Write time : 307.708 us + 20.62sWARNros2_control_nodeOverrun might occur, Total time : 2077.259 us (Expected < 1666.667 us) --> Read time : 118.594 us, Update time : 1650.957 us, Write time : 307.708 us[0m ×2 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890029 ms (missed cycles : 2). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890029 ms (missed cycles : 2).[0m ×2 + 21.74sWARNcontroller_managerOverrun might occur, Total time : 1817.102 us (Expected < 1666.667 us) --> Read time : 152.134 us, Update time : 1341.208 us, Write time : 323.760 us + 21.74sWARNros2_control_nodeOverrun might occur, Total time : 1817.102 us (Expected < 1666.667 us) --> Read time : 152.134 us, Update time : 1341.208 us, Write time : 323.760 us[0m ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033173 ms (missed cycles : 3). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033173 ms (missed cycles : 3).[0m ×2 + 22.81sWARNcontroller_managerOverrun might occur, Total time : 1748.760 us (Expected < 1666.667 us) --> Read time : 213.596 us, Update time : 566.156 us, Write time : 969.008 us + 22.81sWARNros2_control_nodeOverrun might occur, Total time : 1748.760 us (Expected < 1666.667 us) --> Read time : 213.596 us, Update time : 566.156 us, Write time : 969.008 us[0m ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820862 ms (missed cycles : 3). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820862 ms (missed cycles : 3).[0m ×2 + 23.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.73sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.73sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.73sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.73sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154478 ms (missed cycles : 2). + 24.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154478 ms (missed cycles : 2).[0m ×2 + 24.40sWARNcontroller_managerOverrun might occur, Total time : 6179.925 us (Expected < 1666.667 us) --> Read time : 114.593 us, Update time : 5648.940 us, Write time : 416.392 us + 24.40sWARNros2_control_nodeOverrun might occur, Total time : 6179.925 us (Expected < 1666.667 us) --> Read time : 114.593 us, Update time : 5648.940 us, Write time : 416.392 us[0m ×2 + 24.72sINFOros2_control_node[2026-06-10 16:43:50.063] [info] Received new action goal ×2 + 24.72sINFOros2_control_node[2026-06-10 16:43:50.063] [info] Accepted new action goal ×2 + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142706 ms (missed cycles : 2). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142706 ms (missed cycles : 2).[0m ×2 + 25.74sWARNcontroller_managerOverrun might occur, Total time : 4484.687 us (Expected < 1666.667 us) --> Read time : 180.435 us, Update time : 3893.720 us, Write time : 410.532 us + 25.74sWARNros2_control_nodeOverrun might occur, Total time : 4484.687 us (Expected < 1666.667 us) --> Read time : 180.435 us, Update time : 3893.720 us, Write time : 410.532 us[0m ×2 + 25.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.90sINFOobjective_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 + 26.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 26.08sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 26.11sINFOros2_control_node[2026-06-10 16:43:51.445] [info] Received new action goal ×2 + 26.11sINFOros2_control_node[2026-06-10 16:43:51.445] [info] Accepted new action goal ×2 + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135808 ms (missed cycles : 2). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135808 ms (missed cycles : 2).[0m ×2 + 26.95sWARNcontroller_managerOverrun might occur, Total time : 5011.902 us (Expected < 1666.667 us) --> Read time : 155.985 us, Update time : 4458.676 us, Write time : 397.241 us + 26.95sWARNros2_control_nodeOverrun might occur, Total time : 5011.902 us (Expected < 1666.667 us) --> Read time : 155.985 us, Update time : 4458.676 us, Write time : 397.241 us[0m ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963223 ms (missed cycles : 3). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963223 ms (missed cycles : 3).[0m ×2 + 28.22sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 28.22sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.23sINFOros2_control_node[2026-06-10 16:43:53.570] [info] Received new action goal ×2 + 28.23sINFOros2_control_node[2026-06-10 16:43:53.570] [info] Accepted new action goal ×2 + 28.39sWARNcontroller_managerOverrun might occur, Total time : 3570.581 us (Expected < 1666.667 us) --> Read time : 160.584 us, Update time : 3056.427 us, Write time : 353.570 us + 28.39sWARNros2_control_nodeOverrun might occur, Total time : 3570.581 us (Expected < 1666.667 us) --> Read time : 160.584 us, Update time : 3056.427 us, Write time : 353.570 us[0m ×2 + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782046 ms (missed cycles : 3). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782046 ms (missed cycles : 3).[0m ×2 + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018762 ms (missed cycles : 4). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018762 ms (missed cycles : 4).[0m ×2 + 29.88sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.18% of iterations over budget over 2:10.002 of wall time (74/40222). Below 1% is expected on a non-realtime system.[0m ×2 + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.783032 ms (missed cycles : 7). + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.783032 ms (missed cycles : 7).[0m ×2 + 30.80sWARNcontroller_managerOverrun might occur, Total time : 2810.930 us (Expected < 1666.667 us) --> Read time : 114.193 us, Update time : 2227.623 us, Write time : 469.114 us + 30.80sWARNros2_control_nodeOverrun might occur, Total time : 2810.930 us (Expected < 1666.667 us) --> Read time : 114.193 us, Update time : 2227.623 us, Write time : 469.114 us[0m ×2 + 31.33sINFOros2_control_node[2026-06-10 16:43:56.673] [info] Received new action goal ×2 + 31.33sINFOros2_control_node[2026-06-10 16:43:56.673] [info] Accepted new action goal ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784858 ms (missed cycles : 4). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784858 ms (missed cycles : 4).[0m ×2 + 32.19sWARNcontroller_managerOverrun might occur, Total time : 5918.368 us (Expected < 1666.667 us) --> Read time : 100.503 us, Update time : 5429.674 us, Write time : 388.191 us + 32.19sWARNros2_control_nodeOverrun might occur, Total time : 5918.368 us (Expected < 1666.667 us) --> Read time : 100.503 us, Update time : 5429.674 us, Write time : 388.191 us[0m ×2 + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.949705 ms (missed cycles : 6). + 32.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.949705 ms (missed cycles : 6).[0m ×2 + 33.29sWARNcontroller_managerOverrun might occur, Total time : 4258.701 us (Expected < 1666.667 us) --> Read time : 100.823 us, Update time : 3603.422 us, Write time : 554.456 us + 33.29sWARNros2_control_nodeOverrun might occur, Total time : 4258.701 us (Expected < 1666.667 us) --> Read time : 100.823 us, Update time : 3603.422 us, Write time : 554.456 us[0m ×2 + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670059 ms (missed cycles : 4). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670059 ms (missed cycles : 4).[0m ×2 + 33.92sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 33.92sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.94sINFOros2_control_node[2026-06-10 16:43:59.282] [info] Received new action goal ×2 + 33.94sINFOros2_control_node[2026-06-10 16:43:59.282] [info] Accepted new action goal ×2 + 34.73sWARNcontroller_managerOverrun might occur, Total time : 3646.262 us (Expected < 1666.667 us) --> Read time : 123.443 us, Update time : 3107.418 us, Write time : 415.401 us + 34.73sWARNros2_control_nodeOverrun might occur, Total time : 3646.262 us (Expected < 1666.667 us) --> Read time : 123.443 us, Update time : 3107.418 us, Write time : 415.401 us[0m ×2 + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.648090 ms (missed cycles : 9). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.648090 ms (missed cycles : 9).[0m ×2 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518005 ms (missed cycles : 3). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518005 ms (missed cycles : 3).[0m ×2 + 35.87sWARNcontroller_managerOverrun might occur, Total time : 2087.879 us (Expected < 1666.667 us) --> Read time : 163.585 us, Update time : 1609.595 us, Write time : 314.699 us + 35.87sWARNros2_control_nodeOverrun might occur, Total time : 2087.879 us (Expected < 1666.667 us) --> Read time : 163.585 us, Update time : 1609.595 us, Write time : 314.699 us[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708705 ms (missed cycles : 4). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708705 ms (missed cycles : 4).[0m ×2 + 37.15sWARNcontroller_managerOverrun might occur, Total time : 4206.681 us (Expected < 1666.667 us) --> Read time : 204.536 us, Update time : 3668.385 us, Write time : 333.760 us + 37.15sWARNros2_control_nodeOverrun might occur, Total time : 4206.681 us (Expected < 1666.667 us) --> Read time : 204.536 us, Update time : 3668.385 us, Write time : 333.760 us[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168706 ms (missed cycles : 2). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168706 ms (missed cycles : 2).[0m ×2 + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.679250 ms (missed cycles : 8). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.679250 ms (missed cycles : 8).[0m ×2 + 39.09sWARNcontroller_managerOverrun might occur, Total time : 5416.073 us (Expected < 1666.667 us) --> Read time : 112.123 us, Update time : 4948.730 us, Write time : 355.220 us + 39.09sWARNros2_control_nodeOverrun might occur, Total time : 5416.073 us (Expected < 1666.667 us) --> Read time : 112.123 us, Update time : 4948.730 us, Write time : 355.220 us[0m ×2 + 39.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132656 ms (missed cycles : 4). + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132656 ms (missed cycles : 4).[0m ×2 + 40.18sWARNcontroller_managerOverrun might occur, Total time : 4013.573 us (Expected < 1666.667 us) --> Read time : 117.533 us, Update time : 3419.047 us, Write time : 476.993 us + 40.18sWARNros2_control_nodeOverrun might occur, Total time : 4013.573 us (Expected < 1666.667 us) --> Read time : 117.533 us, Update time : 3419.047 us, Write time : 476.993 us[0m ×2 + 40.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572973 ms (missed cycles : 4). + 40.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572973 ms (missed cycles : 4).[0m ×2 + 41.44sWARNcontroller_managerOverrun might occur, Total time : 2170.602 us (Expected < 1666.667 us) --> Read time : 258.238 us, Update time : 1525.063 us, Write time : 387.301 us + 41.44sWARNros2_control_nodeOverrun might occur, Total time : 2170.602 us (Expected < 1666.667 us) --> Read time : 258.238 us, Update time : 1525.063 us, Write time : 387.301 us[0m ×2 + 41.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698012 ms (missed cycles : 2). + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698012 ms (missed cycles : 2).[0m ×2 + 42.51sWARNcontroller_managerOverrun might occur, Total time : 3581.172 us (Expected < 1666.667 us) --> Read time : 95.433 us, Update time : 3168.090 us, Write time : 317.649 us + 42.52sWARNros2_control_nodeOverrun might occur, Total time : 3581.172 us (Expected < 1666.667 us) --> Read time : 95.433 us, Update time : 3168.090 us, Write time : 317.649 us[0m ×2 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744631 ms (missed cycles : 4). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744631 ms (missed cycles : 4).[0m ×2 + 43.55sWARNcontroller_managerOverrun might occur, Total time : 1692.368 us (Expected < 1666.667 us) --> Read time : 184.515 us, Update time : 228.937 us, Write time : 1278.916 us + 43.55sWARNros2_control_nodeOverrun might occur, Total time : 1692.368 us (Expected < 1666.667 us) --> Read time : 184.515 us, Update time : 228.937 us, Write time : 1278.916 us[0m ×2 + 44.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554048 ms (missed cycles : 4). + 44.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554048 ms (missed cycles : 4).[0m ×2 + 44.79sWARNcontroller_managerOverrun might occur, Total time : 3647.433 us (Expected < 1666.667 us) --> Read time : 130.524 us, Update time : 3133.908 us, Write time : 383.001 us + 44.79sWARNros2_control_nodeOverrun might occur, Total time : 3647.433 us (Expected < 1666.667 us) --> Read time : 130.524 us, Update time : 3133.908 us, Write time : 383.001 us[0m ×2 + 44.80sINFOros2_control_node[2026-06-10 16:44:10.140] [info] Received new action goal ×2 + 44.80sINFOros2_control_node[2026-06-10 16:44:10.140] [info] Accepted new action goal ×2 + 45.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306406 ms (missed cycles : 2). + 45.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306406 ms (missed cycles : 2).[0m ×2 + 45.96sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1781109851.29650569 seconds ×3 + 46.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039342 ms (missed cycles : 3). + 46.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039342 ms (missed cycles : 3).[0m ×2 + 46.51sWARNcontroller_managerOverrun might occur, Total time : 1748.730 us (Expected < 1666.667 us) --> Read time : 159.065 us, Update time : 695.140 us, Write time : 894.525 us + 46.51sWARNros2_control_nodeOverrun might occur, Total time : 1748.730 us (Expected < 1666.667 us) --> Read time : 159.065 us, Update time : 695.140 us, Write time : 894.525 us[0m ×2 + 46.64sINFOobjective_server_nodeObjective `Push Button` starting at time: 1781109851.98455215 seconds. ×3 + 46.97sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 46.97sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 47.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.838451 ms (missed cycles : 6). + 47.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.838451 ms (missed cycles : 6).[0m ×2 + 47.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 47.91sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.92sINFOros2_control_node[2026-06-10 16:44:13.258] [info] Received new action goal ×2 + 47.92sINFOros2_control_node[2026-06-10 16:44:13.258] [info] Accepted new action goal ×2 + 48.06sWARNcontroller_managerOverrun might occur, Total time : 1742.139 us (Expected < 1666.667 us) --> Read time : 159.864 us, Update time : 29.091 us, Write time : 1553.184 us + 48.06sWARNros2_control_nodeOverrun might occur, Total time : 1742.139 us (Expected < 1666.667 us) --> Read time : 159.864 us, Update time : 29.091 us, Write time : 1553.184 us[0m ×2 + 48.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130421 ms (missed cycles : 3). + 48.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130421 ms (missed cycles : 3).[0m ×2 + 49.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696788 ms (missed cycles : 4). + 49.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696788 ms (missed cycles : 4).[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 | 37.9s | 9849 errors · 231 warnings · 10027 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642110 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642110 ms (missed cycles : 2).[0m ×2 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 2879.214 us (Expected < 1666.667 us) --> Read time : 114.224 us, Update time : 36.812 us, Write time : 2728.178 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 2879.214 us (Expected < 1666.667 us) --> Read time : 114.224 us, Update time : 36.812 us, Write time : 2728.178 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.935516 ms (missed cycles : 9). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.935516 ms (missed cycles : 9).[0m ×2 + 1.80sWARNcontroller_managerOverrun might occur, Total time : 1749.270 us (Expected < 1666.667 us) --> Read time : 76.942 us, Update time : 72.852 us, Write time : 1599.476 us + 1.80sWARNros2_control_nodeOverrun might occur, Total time : 1749.270 us (Expected < 1666.667 us) --> Read time : 76.942 us, Update time : 72.852 us, Write time : 1599.476 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292646 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292646 ms (missed cycles : 2).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.917797 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.917797 ms (missed cycles : 6).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1781109862.94468975 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 3.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781109863.56878901 seconds. ×3 + 3.89sWARNcontroller_managerOverrun might occur, Total time : 2299.165 us (Expected < 1666.667 us) --> Read time : 174.205 us, Update time : 1808.921 us, Write time : 316.039 us + 3.89sWARNros2_control_nodeOverrun might occur, Total time : 2299.165 us (Expected < 1666.667 us) --> Read time : 174.205 us, Update time : 1808.921 us, Write time : 316.039 us[0m ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.03sINFOros2_control_node[2026-06-10 16:44:23.722] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-10 16:44:23.722] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151144 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151144 ms (missed cycles : 2).[0m ×2 + 4.27sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 4.27sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058231 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058231 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.30sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 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_admittance_controller ×6 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327186 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327186 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun might occur, Total time : 1941.506 us (Expected < 1666.667 us) --> Read time : 139.624 us, Update time : 1510.363 us, Write time : 291.519 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 1941.506 us (Expected < 1666.667 us) --> Read time : 139.624 us, Update time : 1510.363 us, Write time : 291.519 us[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416787 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416787 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun might occur, Total time : 1733.259 us (Expected < 1666.667 us) --> Read time : 173.835 us, Update time : 717.330 us, Write time : 842.094 us + 7.39sWARNros2_control_nodeOverrun might occur, Total time : 1733.259 us (Expected < 1666.667 us) --> Read time : 173.835 us, Update time : 717.330 us, Write time : 842.094 us[0m ×2 + 7.60sINFOjoint_trajectory_controllerReceived new action goal ×3281 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000295485614161 + 7.60sINFOros2_control_nodeReceived new action goal[0m ×6562 + 7.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000295485614161[0m ×2 + 7.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000285262155044 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000285262155044[0m ×2 + 7.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000378695521415 + 7.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000378695521415[0m ×2 + 7.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086579412989 + 7.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086579412989[0m ×2 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086606395693 + 7.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086606395693[0m ×2 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070185318176 + 7.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070185318176[0m ×2 + 7.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015535992603 + 7.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015535992603[0m ×2 + 7.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000361907930560 + 7.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000361907930560[0m ×2 + 7.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000220527355527 + 7.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000220527355527[0m ×2 + 7.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000175568789445 + 7.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000175568789445[0m ×2 + 7.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000188533262109 + 7.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000188533262109[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070725531184 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070725531184[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000625338941006 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000625338941006[0m ×2 + 7.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000475918050848 + 7.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000475918050848[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000660223190203 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000660223190203[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000254335078223 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000254335078223[0m ×2 + 7.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243465608363 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243465608363[0m ×2 + 7.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000501372469946 + 7.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000501372469946[0m ×2 + 7.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052910630817 + 7.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052910630817[0m ×2 + 7.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000128877119488 + 7.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000128877119488[0m ×2 + 7.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000769397862435 + 7.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000769397862435[0m ×2 + 7.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001076649061636 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001076649061636[0m ×2 + 7.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000986322475709 + 7.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000986322475709[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001063039460724 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001063039460724[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000504485442032 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000504485442032[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000360431504386 + 7.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000360431504386[0m ×2 + 7.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000863339972258 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000863339972258[0m ×2 + 7.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001105137025112 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001105137025112[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000504633781431 + 7.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000504633781431[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000470198578705 + 7.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000470198578705[0m ×2 + 7.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111431663380 + 7.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111431663380[0m ×2 + 7.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000153910563069 + 7.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000153910563069[0m ×2 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000292184980994 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000292184980994[0m ×2 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000217757630594 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000217757630594[0m ×2 + 7.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000426649595099 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000426649595099[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000525408337846 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000525408337846[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000630195534657 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000630195534657[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000806790247963 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000806790247963[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000393836284533 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000393836284533[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000320640541401 + 7.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000320640541401[0m ×2 + 7.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000981133857259 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000981133857259[0m ×2 + 7.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081017075013 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081017075013[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001110391581842 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001110391581842[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000744135405601 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000744135405601[0m ×2 + 7.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006248034809225 + 7.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006248034809225[0m ×2 + 7.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551603113753 + 7.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551603113753[0m ×2 + 7.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000184820943713 ×2 + 7.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000184820943713[0m ×4 + 7.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000139634140394 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000139634140394[0m ×2 + 7.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000361225620858 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000361225620858[0m ×2 + 7.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000298074408745 + 7.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000298074408745[0m ×2 + 7.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089407137803 + 7.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089407137803[0m ×2 + 7.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000228827293303 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000228827293303[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091081041296 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091081041296[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000129939506017 ×2 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000129939506017[0m ×4 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000232795516369 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000232795516369[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000541854600345 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000541854600345[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000416153680077 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000416153680077[0m ×2 + 8.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000416212088518 + 8.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000416212088518[0m ×2 + 8.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000324542080662 + 8.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000324542080662[0m ×2 + 8.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000324513267364 + 8.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000324513267364[0m ×2 + 8.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290010223025 + 8.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290010223025[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000414129868547 + 8.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000414129868547[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173894618362 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173894618362[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000345503575903 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000345503575903[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136320791867 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136320791867[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044245570773 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044245570773[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000452747710603 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000452747710603[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000299581583285 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000299581583285[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000487451486091 + 8.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000487451486091[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000559947966372 + 8.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000559947966372[0m ×2 + 8.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000683358282921 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000683358282921[0m ×2 + 8.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000683109557940 + 8.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000683109557940[0m ×2 + 8.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000260691729168 + 8.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000260691729168[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000211853202042 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000211853202042[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081920231842 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081920231842[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077126084755 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077126084755[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049223230601 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049223230601[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126640279390 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126640279390[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000238232001493 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000238232001493[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000307938884575 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000307938884575[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000265700984576 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000265700984576[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039046152073 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039046152073[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063016453258 ×2 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063016453258[0m ×4 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003487854048 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003487854048[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001139157197884 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001139157197884[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001031197581517 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001031197581517[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000956192925415 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000956192925415[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001158416359445 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001158416359445[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000482530449700 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000482530449700[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000302077622334 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.442885 ms (missed cycles : 8). + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000302077622334[0m ×2 + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.442885 ms (missed cycles : 8).[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033907585084 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033907585084[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120318635670 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120318635670[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173659868035 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173659868035[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093510106777 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093510106777[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000173554964519 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000173554964519[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070363616516 ×2 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070363616516[0m ×4 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008417129024 ×2 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008417129024[0m ×4 + 8.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000058894494503 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000058894494503[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014243247852 ×2 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014243247852[0m ×4 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009558914143 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009558914143[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084680895833 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084680895833[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059662764014 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059662764014[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000226631467759 ×2 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000226631467759[0m ×4 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000184866972196 ×2 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000184866972196[0m ×4 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104985973719 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104985973719[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052249377876 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052249377876[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128119338852 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128119338852[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085969181725 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085969181725[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000475964931208 ×2 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000475964931208[0m ×4 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000285588482340 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000285588482340[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176599528513 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176599528513[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177032108551 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000177032108551[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000311929383520 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000311929383520[0m ×2 + 8.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339482346828 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339482346828[0m ×2 + 8.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096555636549 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096555636549[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073418900362 ×2 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073418900362[0m ×4 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015574181844 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015574181844[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015653099627 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015653099627[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461063357123 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461063357123[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000220206403211 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000220206403211[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168649453672 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168649453672[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000640651591262 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000640651591262[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000620917449271 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000620917449271[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000194700734745 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000194700734745[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000337736381367 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000337736381367[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151158050333 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151158050333[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000208668230918 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000208668230918[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163743506231 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163743506231[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122038473230 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122038473230[0m ×2 + 8.65sWARNcontroller_managerOverrun might occur, Total time : 7962.266 us (Expected < 1666.667 us) --> Read time : 99.302 us, Update time : 7166.104 us, Write time : 696.860 us + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121954286581 + 8.65sWARNros2_control_nodeOverrun might occur, Total time : 7962.266 us (Expected < 1666.667 us) --> Read time : 99.302 us, Update time : 7166.104 us, Write time : 696.860 us[0m ×2 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121954286581[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000238022547810 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000238022547810[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081602557846 ×2 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081602557846[0m ×4 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044667666808 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044667666808[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000342432765817 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000342432765817[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000923009147504 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000923009147504[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000525413688324 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000525413688324[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739897926941 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739897926941[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001724666955232 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001724666955232[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002786381361966 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002786381361966[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002304425290043 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002304425290043[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705166686525 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705166686525[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795889625748 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795889625748[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002145893558645 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002145893558645[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000605448703664 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000605448703664[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001007890911601 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001007890911601[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001725205254350 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001725205254350[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001538824666072 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001538824666072[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001757325695249 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001757325695249[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001547276396785 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001547276396785[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001665716260592 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001665716260592[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001479053511644 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001479053511644[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358816726167 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358816726167[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477622731797 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477622731797[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001359859919691 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001359859919691[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424187371030 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424187371030[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001465598074504 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001465598074504[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001343508381292 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001343508381292[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001564506961497 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001564506961497[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001364534801406 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001364534801406[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001596387878278 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001596387878278[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000704629288622 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000704629288622[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607728030603 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607728030603[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002669591867352 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002669591867352[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002771865836005 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002771865836005[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837565330944 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837565330944[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002197531708514 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002197531708514[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694603706163 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694603706163[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001815356738747 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001815356738747[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001589545972997 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001589545972997[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001427746170475 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001427746170475[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494227533949 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494227533949[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001374015022787 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001374015022787[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001317240522455 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001317240522455[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001299799382096 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001299799382096[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001299144132913 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001299144132913[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001527083918763 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001527083918763[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572426101770 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572426101770[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799714239820 + 9.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799714239820[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002210740403152 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002210740403152[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824519578331 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824519578331[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567947855808 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567947855808[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415351683646 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415351683646[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001335458313053 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001335458313053[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001754568738582 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001754568738582[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000770002899950 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000770002899950[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001625391790103 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001625391790103[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001751176710664 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001751176710664[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586017605420 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586017605420[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001710961984348 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001710961984348[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557246527841 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557246527841[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001462884990970 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001462884990970[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694767614031 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001694767614031[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001190130970396 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001190130970396[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001252438365138 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001252438365138[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525315207771 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525315207771[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001553911277163 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001553911277163[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001590809059401 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001590809059401[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000747474185651 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000747474185651[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001035461258657 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001035461258657[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001464653190009 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001464653190009[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001476198792889 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001476198792889[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001478092452499 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001478092452499[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001711298942291 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001711298942291[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001616726556466 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001616726556466[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001549390367032 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001549390367032[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001503973543889 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001503973543889[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474599472232 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474599472232[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001902802988468 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001902802988468[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001718004828961 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001718004828961[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001844742763500 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001844742763500[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672595082945 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672595082945[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379214778219 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379214778219[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002109448756101 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002109448756101[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001894675637426 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001894675637426[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129697512517 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129697512517[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370025 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370025 ms (missed cycles : 3).[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880944038408 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880944038408[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709417021427 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709417021427[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000212498651583 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000212498651583[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000718015612590 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000718015612590[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209993814868 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209993814868[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001649296101821 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001649296101821[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002343988392757 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002343988392757[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002056500746411 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002056500746411[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002294185403903 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002294185403903[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001991563225218 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001991563225218[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782687052143 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782687052143[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001662629640298 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001662629640298[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000971258248725 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000971258248725[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001150328087974 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001150328087974[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001591592488706 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001591592488706[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001552966723855 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001552966723855[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683868061900 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001683868061900[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001609820153583 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001609820153583[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001562927628048 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001562927628048[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802454551966 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802454551966[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001681760714657 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001681760714657[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602913112080 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602913112080[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001726288031199 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001726288031199[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001966726322163 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001966726322163[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001811287326796 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001811287326796[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001703366000440 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001703366000440[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148569412257 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148569412257[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001902351862021 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001902351862021[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001737339868094 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001737339868094[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183495941235 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183495941235[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001879727750358 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001879727750358[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002010550667980 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002010550667980[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789486811401 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789486811401[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001797032154292 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001797032154292[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001868065405589 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001868065405589[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739220287673 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739220287673[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981916171806 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981916171806[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803025118431 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803025118431[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001679518763956 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001679518763956[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129055705926 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129055705926[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001923595296776 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001923595296776[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776922249736 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776922249736[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817179216193 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817179216193[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365323834882 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365323834882[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000588334356836 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000588334356836[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131448757296 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131448757296[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646568154046 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646568154046[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536023959068 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536023959068[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434162745405 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434162745405[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004647309411571 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004647309411571[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003325588523745 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003325588523745[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003460174042148 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003460174042148[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002536870773386 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002536870773386[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002993419419794 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002993419419794[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002260956492247 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002260956492247[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824143501441 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824143501441[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002080828675769 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002080828675769[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001719850871417 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001719850871417[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002181094166002 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002181094166002[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001231974916678 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001231974916678[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002263264547667 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002263264547667[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165174094760 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165174094760[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106580319442 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106580319442[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682183384460 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682183384460[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001158555150290 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001158555150290[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002097808882868 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002097808882868[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691287390674 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691287390674[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003718869767544 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003718869767544[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727537294344 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727537294344[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801615304180 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801615304180[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957489283825 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957489283825[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094529591323 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094529591323[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002199659642370 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002199659642370[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002627177344385 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002627177344385[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667370821983 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667370821983[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287488379895 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287488379895[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002361767425620 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002361767425620[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996632866572 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996632866572[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776496986658 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776496986658[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002245960507827 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002245960507827[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001968886095908 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001968886095908[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001933791272335 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001933791272335[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572746780492 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572746780492[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827408440854 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827408440854[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002382493155109 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002382493155109[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640710835648 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640710835648[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002240043203868 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002240043203868[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400795727530 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400795727530[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005275641313835 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005275641313835[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595847404694 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595847404694[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636764249845 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636764249845[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003370257094483 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003370257094483[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002540702663848 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002540702663848[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002774305972047 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002774305972047[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002194875786881 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002194875786881[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002670718633310 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002670718633310[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002146856614620 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002146856614620[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001834847267708 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001834847267708[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311373163966 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311373163966[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983357097682 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983357097682[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983057170793 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983057170793[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001772800357570 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001772800357570[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672644597574 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672644597574[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002386218322597 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002386218322597[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101588679765 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101588679765[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002015452352853 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002015452352853[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002274112120113 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002274112120113[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002069213229400 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002069213229400[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547706493279 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547706493279[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222134442492 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222134442492[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002028226676308 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002028226676308[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002506995106273 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002506995106273[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178105484990 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178105484990[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716277294153 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716277294153[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002738507522199 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002738507522199[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002313233851111 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002313233851111[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002036646713732 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002036646713732[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619117602382 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619117602382[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002236056208175 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002236056208175[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002743009757060 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002743009757060[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883667111755 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883667111755[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002394509070069 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002394509070069[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002830758170041 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002830758170041[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871973358723 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871973358723[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002375015594356 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002375015594356[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002635322566297 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002635322566297[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002217730798239 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002217730798239[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002712208565231 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002712208565231[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002853211191961 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002853211191961[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002361938704581 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002361938704581[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622739302721 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622739302721[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557677 ms (missed cycles : 5). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557677 ms (missed cycles : 5).[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002210236306807 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002210236306807[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626887230394 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626887230394[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002109441299509 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002109441299509[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754863721574 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754863721574[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003145028131132 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003145028131132[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003406259120756 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003406259120756[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002766193135701 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002766193135701[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089509903018 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089509903018[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231003331047 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231003331047[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002608866793192 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002608866793192[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960227759119 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960227759119[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421292610549 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421292610549[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002904932482867 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002904932482867[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002378938929277 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002378938929277[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002807246789745 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002807246789745[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002948589385315 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002948589385315[0m ×2 + 10.47sWARNcontroller_managerOverrun might occur, Total time : 2948.304 us (Expected < 1666.667 us) --> Read time : 130.114 us, Update time : 2327.466 us, Write time : 490.724 us + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002412949781710 + 10.47sWARNros2_control_nodeOverrun might occur, Total time : 2948.304 us (Expected < 1666.667 us) --> Read time : 130.114 us, Update time : 2327.466 us, Write time : 490.724 us[0m ×2 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002412949781710[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077896574399 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077896574399[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002037718217526 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002037718217526[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524175889881 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002524175889881[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003000773016824 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003000773016824[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003485673742737 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003485673742737[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002821645150154 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002821645150154[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002288985836800 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002288985836800[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822029590079 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822029590079[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003152406464284 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003152406464284[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342632504126 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342632504126[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484863521278 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003484863521278[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002767232490589 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002767232490589[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003252850077380 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003252850077380[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002598653607923 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002598653607923[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002942433004509 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002942433004509[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205400205073 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205400205073[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366171245445 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002366171245445[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264579163749 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264579163749[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629142508081 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629142508081[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002981103033125 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002981103033125[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003244300724752 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003244300724752[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002606028752386 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002606028752386[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958994035608 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958994035608[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003222254930128 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003222254930128[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002586604232095 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002586604232095[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003073222589666 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003073222589666[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002483523942674 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002483523942674[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002103760805352 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002103760805352[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701241845895 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002701241845895[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082489802530 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082489802530[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569481229812 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569481229812[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612559278344 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612559278344[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613610797620 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003613610797620[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846258666861 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846258666861[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108992950738 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108992950738[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372592179644 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372592179644[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674467192380 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674467192380[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161665328111 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161665328111[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294548609431 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294548609431[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002383804429464 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002383804429464[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284396507816 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284396507816[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400654199697 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400654199697[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477873721441 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477873721441[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744189686475 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744189686475[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037421408429 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037421408429[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301162192371 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301162192371[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002407356004247 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002407356004247[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865743683379 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865743683379[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003160105977447 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003160105977447[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337769307360 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337769307360[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601549431621 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601549431621[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599501807639 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599501807639[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813033594158 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813033594158[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003300419638576 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003300419638576[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374568734722 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374568734722[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517270753398 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517270753398[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002741348591639 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002741348591639[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014272970751 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014272970751[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501572896136 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501572896136[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737341411473 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737341411473[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003224633161743 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003224633161743[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003319527199485 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003319527199485[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003378917935719 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003378917935719[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456119622055 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456119622055[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698293865845 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698293865845[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185446227050 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185446227050[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288312157957 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288312157957[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430936414064 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430936414064[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444278092141 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444278092141[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685595747102 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685595747102[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002138828381439 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002138828381439[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705318457292 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705318457292[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074274248775 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074274248775[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973904549269 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973904549269[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002030259951722 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002030259951722[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682212124453 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682212124453[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096348209205 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096348209205[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342341611255 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342341611255[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241292201403 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241292201403[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033205334315 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033205334315[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296317320066 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296317320066[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019855259061 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019855259061[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162186139111 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162186139111[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898276128764 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898276128764[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708682620365 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708682620365[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785655467974 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785655467974[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003626532954895 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003626532954895[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003703486550903 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003703486550903[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474559203787 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001474559203787[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002372342012203 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002372342012203[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002926857190804 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002926857190804[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823943109955 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823943109955[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821485553146 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821485553146[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773420445909 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773420445909[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669465082027 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669465082027[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264091560003 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264091560003[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406009642303 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406009642303[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048689800747 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048689800747[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125457549045 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125457549045[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841715160223 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841715160223[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648139360994 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648139360994[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003522688967903 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003522688967903[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446364464142 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446364464142[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708067426427 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708067426427[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566596451704 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003566596451704[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477510498893 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477510498893[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738976079845 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738976079845[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003587770285465 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003587770285465[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849096391475 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849096391475[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653872382740 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653872382740[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795221084785 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795221084785[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874294077485 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874294077485[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003710863193272 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003710863193272[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594076103308 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594076103308[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981404 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981404 ms (missed cycles : 2).[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004075878944465 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004075878944465[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004006054345697 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004006054345697[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266522519866 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266522519866[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955787745418 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955787745418[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735330315048 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735330315048[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995509566093 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995509566093[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747224117954 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747224117954[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007240698441 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004007240698441[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003743328991628 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003743328991628[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570106771491 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570106771491[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462518388159 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462518388159[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400387685922 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400387685922[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003368275223763 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003368275223763[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253620035729 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253620035729[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905418048858 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905418048858[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003670081280041 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003670081280041[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148466986035 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148466986035[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816037017200 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816037017200[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074716583168 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074716583168[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759225057172 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759225057172[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556400924747 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556400924747[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033770577790 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033770577790[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730564730062 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730564730062[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003988686367757 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003988686367757[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697380790558 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697380790558[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003772133031459 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003772133031459[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619638959443 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619638959443[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514144615991 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514144615991[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392736032882 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004392736032882[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990352747119 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990352747119[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003714627264058 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003714627264058[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004591629647409 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004591629647409[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079570500658 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079570500658[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737161427609 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737161427609[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210899780641 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004210899780641[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003814227785302 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003814227785302[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560128576934 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560128576934[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003407175812315 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003407175812315[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280475029370 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280475029370[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865893162675 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865893162675[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337935457065 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337935457065[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889589899532 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889589899532[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786410456502 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786410456502[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830231549934 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830231549934[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300538600469 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300538600469[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949833273865 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949833273865[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005060463822419 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005060463822419[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005197841292795 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005197841292795[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003413149973786 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003413149973786[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752374025141 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752374025141[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220036573361 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220036573361[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511507196096 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511507196096[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013122234929 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013122234929[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004875539635592 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004875539635592[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213811428768 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213811428768[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004679884734547 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004679884734547[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061731722988 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061731722988[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770916543875 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770916543875[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235713094376 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235713094376[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173107269129 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173107269129[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005246627985270 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005246627985270[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440467766950 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440467766950[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897868800125 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897868800125[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753411519960 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753411519960[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082369933813 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082369933813[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544691750795 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544691750795[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935679680028 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935679680028[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004886113308661 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004886113308661[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031693064711 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031693064711[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004983473711731 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004983473711731[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232054885583 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232054885583[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395070898107 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395070898107[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004853878422884 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004853878422884[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123515114564 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123515114564[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977579751869 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977579751869[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005016810595006 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005016810595006[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212245113261 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212245113261[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691051623046 + 11.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691051623046[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004534461802170 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004534461802170[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897000550835 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897000550835[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814831434667 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814831434667[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079546781251 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079546781251[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919176350889 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919176350889[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128262179157 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128262179157[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933806336536 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933806336536[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066414144845 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066414144845[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212827319029 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212827319029[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678403177219 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678403177219[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710228445117 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710228445117[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354423894405 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354423894405[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424822925538 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424822925538[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254668356811 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254668356811[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323447905612 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323447905612[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151860993581 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151860993581[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004230919754251 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004230919754251[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934258585810 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004934258585810[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005380881749141 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005380881749141[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363208257831 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363208257831[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809161522120 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809161522120[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982656437029 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982656437029[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754053358377 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754053358377[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198417957859 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198417957859[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239960543444 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239960543444[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005059802311734 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005059802311734[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133884197616 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133884197616[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828606208574 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828606208574[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270553772156 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270553772156[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004268476420127 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004268476420127[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005083837323881 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005083837323881[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131844544299 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131844544299[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002787169917353 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002787169917353[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599255723017 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599255723017[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654878761286 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654878761286[0m ×2 + 12.23sWARNcontroller_managerOverrun might occur, Total time : 3297.874 us (Expected < 1666.667 us) --> Read time : 165.794 us, Update time : 2683.077 us, Write time : 449.003 us + 12.23sWARNros2_control_nodeOverrun might occur, Total time : 3297.874 us (Expected < 1666.667 us) --> Read time : 165.794 us, Update time : 2683.077 us, Write time : 449.003 us[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297115552458 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297115552458[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182986278719 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182986278719[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382286500951 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382286500951[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005186783687420 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005186783687420[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005620177054834 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005620177054834[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007102523457115 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007102523457115[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489081553682 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489081553682[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006289220194473 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006289220194473[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006133078220361 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006133078220361[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006259513441554 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006259513441554[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803951017860 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004803951017860[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005103295133731 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005103295133731[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005897947538348 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005897947538348[0m ×2 + 12.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540927363918 + 12.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540927363918[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002680045563448 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002680045563448[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961354616936 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961354616936[0m ×2 + 12.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778900239605 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778900239605[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006233953217074 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006233953217074[0m ×2 + 12.37sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.455144 ms (missed cycles : 5). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.455144 ms (missed cycles : 5).[0m ×2 + 13.34sWARNcontroller_managerOverrun might occur, Total time : 3778.987 us (Expected < 1666.667 us) --> Read time : 168.725 us, Update time : 3283.212 us, Write time : 327.050 us + 13.35sWARNros2_control_nodeOverrun might occur, Total time : 3778.987 us (Expected < 1666.667 us) --> Read time : 168.725 us, Update time : 3283.212 us, Write time : 327.050 us[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110123 ms (missed cycles : 3). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110123 ms (missed cycles : 3).[0m ×2 + 14.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001357493687 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001357493687[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352584190042 ×2 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352584190042[0m ×4 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000704045494628 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000704045494628[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000659629860469 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000659629860469[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001856431754129 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001856431754129[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000270546783795 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000270546783795[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000270373819162 + 14.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000270373819162[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001098068520165 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001098068520165[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000409385375020 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000409385375020[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000409650442410 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000409650442410[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000477357513671 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000477357513671[0m ×2 + 14.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000156286209359 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000156286209359[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000155935945482 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000155935945482[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000131846863140 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000131846863140[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000188813582058 ×2 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000188813582058[0m ×4 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000495795504214 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000495795504214[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000522935889233 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000522935889233[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000234582290498 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000234582290498[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000234349799240 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000234349799240[0m ×2 + 14.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093306117360 + 14.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093306117360[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000494423821465 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000494423821465[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000191006832200 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000191006832200[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000191220429574 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000191220429574[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041349674309 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041349674309[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042807549178 ×2 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042807549178[0m ×4 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083467036763 ×2 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083467036763[0m ×4 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000582301283357 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000582301283357[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000388092400961 ×2 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000388092400961[0m ×4 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000245174671589 + 14.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000245174671589[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162822319837 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162822319837[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000427902985451 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000427902985451[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001014710320143 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001014710320143[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000715270436349 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000715270436349[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000401494153324 ×2 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000401494153324[0m ×4 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000352702879806 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000352702879806[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000507381856820 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000507381856820[0m ×2 + 14.37sWARNcontroller_managerOverrun might occur, Total time : 1775.596 us (Expected < 1666.667 us) --> Read time : 121.364 us, Update time : 1167.686 us, Write time : 486.546 us + 14.37sWARNros2_control_nodeOverrun might occur, Total time : 1775.596 us (Expected < 1666.667 us) --> Read time : 121.364 us, Update time : 1167.686 us, Write time : 486.546 us[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001229356966890 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001229356966890[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001126420493175 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001126420493175[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000638322572488 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000638322572488[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000088848078191 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000088848078191[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002603291497686 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002603291497686[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001478287205563 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001478287205563[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002022310769913 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002022310769913[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002523393155315 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002523393155315[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001305884972144 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001305884972144[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001613390928076 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001613390928076[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001205524518656 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001205524518656[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001206487986359 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001206487986359[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001275576153624 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001275576153624[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000933966827928 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000933966827928[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001030563789857 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001030563789857[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000713959052446 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000713959052446[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000860351167840 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000860351167840[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000850898344588 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000850898344588[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000847965634120 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000847965634120[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001432728272291 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001432728272291[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002930479521185 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002930479521185[0m ×2 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436157 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436157 ms (missed cycles : 2).[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003824105131118 + 14.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003824105131118[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000891207430514 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000891207430514[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003631746836938 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003631746836938[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906805886421 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906805886421[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005155662575942 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005155662575942[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003102989825500 + 14.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003102989825500[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284228592826 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284228592826[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620684163211 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620684163211[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006354302010605 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006354302010605[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006498040775537 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006498040775537[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006447537461993 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006447537461993[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006941560965936 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006941560965936[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005187841457943 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005187841457943[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957094090387 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957094090387[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408632535647 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408632535647[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003405795276331 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003405795276331[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646826165970 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646826165970[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946590130926 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946590130926[0m ×2 + 14.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003187014653770 + 14.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003187014653770[0m ×2 + 14.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002465578219131 + 14.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002465578219131[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866304909327 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866304909327[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003338480824825 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003338480824825[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773452843331 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773452843331[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246465076207 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246465076207[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002911121744087 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002911121744087[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003347650777595 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003347650777595[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002966258529629 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002966258529629[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402158824839 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402158824839[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991062281582 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991062281582[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226640664447 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226640664447[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869837320260 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869837320260[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003105502409841 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003105502409841[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817740714281 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817740714281[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002650341793151 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002650341793151[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002570032519640 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002570032519640[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002540006857863 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002540006857863[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003347492647047 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003347492647047[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005289518717 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005289518717[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003438454153416 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003438454153416[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042287961253 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042287961253[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796169975735 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796169975735[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229272171821 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229272171821[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177195479021 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177195479021[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916576631315 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916576631315[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003706738637691 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003706738637691[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215893074023 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215893074023[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446413083172 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446413083172[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035109942690 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035109942690[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782173899353 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782173899353[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640080980754 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640080980754[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002570770529170 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002570770529170[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363433023949 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363433023949[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005117804649 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005117804649[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430784625607 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430784625607[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029791439378 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029791439378[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782189157359 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782189157359[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642155295178 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642155295178[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429647964947 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429647964947[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029755651164 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029755651164[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782843220180 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782843220180[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002643031591028 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002643031591028[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427648780193 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427648780193[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028920758241 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028920758241[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782749132688 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782749132688[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563206918625 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563206918625[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096706659139 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096706659139[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003516431640450 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003516431640450[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053539704805 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053539704805[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002773068424827 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002773068424827[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003193574352985 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003193574352985[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862442727667 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862442727667[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028092615044 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028092615044[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064512622139 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064512622139[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003419445916283 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003419445916283[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832361965609 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832361965609[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246775667932 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246775667932[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002880838351602 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002880838351602[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003645628682912 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003645628682912[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003117280416812 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003117280416812[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796152228105 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796152228105[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618149285370 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618149285370[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003385890446020 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003385890446020[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002980017003636 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002980017003636[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002736562559618 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002736562559618[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501770000602 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501770000602[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049508248028 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049508248028[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002773853777917 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002773853777917[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002993883120571 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002993883120571[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024707476592 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024707476592[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003397483599296 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003397483599296[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991404154775 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991404154775[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739900621104 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739900621104[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003184741074026 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003184741074026[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840139346476 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840139346476[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978683381821 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978683381821[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986236208737 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986236208737[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382082332162 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004382082332162[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602451307504 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003602451307504[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094544171609 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094544171609[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003834462975152 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003834462975152[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220503403423 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220503403423[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002842139851461 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002842139851461[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003584897369600 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003584897369600[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063738278292 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003063738278292[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002751305971212 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002751305971212[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784952634622 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784952634622[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191231536618 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191231536618[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003587889325576 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003587889325576[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062536869125 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062536869125[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003460474194487 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003460474194487[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002982970197365 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002982970197365[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002702592160641 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002702592160641[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003442084701232 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003442084701232[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621839950923 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621839950923[0m ×2 + 15.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003019912758457 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003019912758457[0m ×2 + 15.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037811671236 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037811671236[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754193842051 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754193842051[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852885493297 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852885493297[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249702618688 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249702618688[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970678466607 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970678466607[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003296047674701 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003296047674701[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036170419244 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036170419244[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004097017560810 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004097017560810[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342661741011 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342661741011[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002879150883043 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002879150883043[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785342702847 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785342702847[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003160826188245 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003160826188245[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003876063779721 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003876063779721[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208818762596 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208818762596[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596367285333 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596367285333[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.108277 ms (missed cycles : 6). + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034415309121 + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.108277 ms (missed cycles : 6).[0m ×2 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034415309121[0m ×2 + 15.52sWARNcontroller_managerOverrun might occur, Total time : 1930.590 us (Expected < 1666.667 us) --> Read time : 288.779 us, Update time : 739.483 us, Write time : 902.328 us + 15.52sWARNros2_control_nodeOverrun might occur, Total time : 1930.590 us (Expected < 1666.667 us) --> Read time : 288.779 us, Update time : 739.483 us, Write time : 902.328 us[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003423143479842 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003423143479842[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560654636749 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560654636749[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950321129407 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950321129407[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099219770503 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099219770503[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482122043512 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482122043512[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247603814192 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247603814192[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638934090088 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638934090088[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841035209829 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841035209829[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829046195806 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829046195806[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205010201818 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205010201818[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395530061863 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395530061863[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020341078504 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020341078504[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129685563188 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129685563188[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003329674130617 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003329674130617[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003706582173778 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003706582173778[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003067450288433 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003067450288433[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829326344424 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829326344424[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938367765658 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938367765658[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003218012592083 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003218012592083[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917452520375 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917452520375[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949183133755 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949183133755[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219897651291 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219897651291[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594605901010 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594605901010[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002531956667354 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002531956667354[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003651239348611 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003651239348611[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334028017769 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334028017769[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004667948507883 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004667948507883[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003469479273661 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003469479273661[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054609842168 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054609842168[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860248470930 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860248470930[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531251464057 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531251464057[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003639769597954 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003639769597954[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314530629088 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314530629088[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467388548228 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467388548228[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029863263790 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029863263790[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393742969060 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393742969060[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003493273378218 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003493273378218[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861474554580 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861474554580[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159186469175 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159186469175[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858467955927 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858467955927[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137121460671 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137121460671[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875238402200 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875238402200[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296383436333 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296383436333[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445068261505 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445068261505[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117396226528 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117396226528[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318588916886 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318588916886[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927038115492 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927038115492[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285940563799 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285940563799[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408166678153 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408166678153[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077639634496 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077639634496[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003270529015136 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003270529015136[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942185228836 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942185228836[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183817452752 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183817452752[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002890850738392 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002890850738392[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003557634458198 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003557634458198[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099942852322 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099942852322[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388262401277 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388262401277[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004578318363895 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004578318363895[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591279182128 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591279182128[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040541338422 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040541338422[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391282353514 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391282353514[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449712631899 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449712631899[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104687809001 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104687809001[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135695768471 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135695768471[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785365577760 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785365577760[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428458152975 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428458152975[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503618378283 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503618378283[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152348713164 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152348713164[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003173610215160 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003173610215160[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365496079754 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365496079754[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499337094868 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499337094868[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003515238690410 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003515238690410[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157515520275 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157515520275[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326751434866 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326751434866[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374251208760 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374251208760[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004014408286971 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004014408286971[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059694105197 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059694105197[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004238439587642 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004238439587642[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202640592054 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202640592054[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379539805108 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379539805108[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507852613228 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507852613228[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004693292230483 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004693292230483[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650747234474 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650747234474[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004057874184412 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004057874184412[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694317996139 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694317996139[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627653803144 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627653803144[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018996931782 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018996931782[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361835785559 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361835785559[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435656069855 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435656069855[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003434247678053 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003434247678053[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002880494263345 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002880494263345[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003615136785554 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003615136785554[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773235325723 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773235325723[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723994820137 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723994820137[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646864917779 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646864917779[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004744714706669 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004744714706669[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003622639178208 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003622639178208[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952621807162 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952621807162[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004138744553998 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004138744553998[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242592337172 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242592337172[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573730407187 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573730407187[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498760001565 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498760001565[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004119831524521 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004119831524521[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226772730813 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226772730813[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004277913005002 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004277913005002[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003086247482979 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003086247482979[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772355254816 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002772355254816[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003909649550295 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003909649550295[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191464022587 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191464022587[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321529687485 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321529687485[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005428564306051 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005428564306051[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667257826054 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667257826054[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003426742084613 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003426742084613[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864316230709 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864316230709[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959444594336 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959444594336[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758833318537 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758833318537[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583656084498 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583656084498[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005169559240499 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005169559240499[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793885307246 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793885307246[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529882650783 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529882650783[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352559642838 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352559642838[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004522709763094 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004522709763094[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341019276642 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341019276642[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226596235846 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004226596235846[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157638208003 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157638208003[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004469555065468 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004469555065468[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304376395341 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304376395341[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395349838818 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395349838818[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253754668702 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253754668702[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055726 ms (missed cycles : 6). + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164668597416 + 16.56sWARNcontroller_managerOverrun might occur, Total time : 1781.594 us (Expected < 1666.667 us) --> Read time : 157.955 us, Update time : 732.532 us, Write time : 891.107 us + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055726 ms (missed cycles : 6).[0m ×2 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164668597416[0m ×2 + 16.56sWARNros2_control_nodeOverrun might occur, Total time : 1781.594 us (Expected < 1666.667 us) --> Read time : 157.955 us, Update time : 732.532 us, Write time : 891.107 us[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331779202302 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331779202302[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820883805995 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004820883805995[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418771071126 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418771071126[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245557527063 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245557527063[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548763561612 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548763561612[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334328575178 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334328575178[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196828294702 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196828294702[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499318791985 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499318791985[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289389752287 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289389752287[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152553790075 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152553790075[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452982813698 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452982813698[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245572026708 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245572026708[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116042444168 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116042444168[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038321760824 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038321760824[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004589398118735 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004589398118735[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321731462506 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321731462506[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148504724437 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148504724437[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444297723793 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444297723793[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004216099364673 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004216099364673[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071049534810 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071049534810[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595635327460 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595635327460[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866577349030 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866577349030[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659257785072 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659257785072[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938545227804 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938545227804[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496724119742 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496724119742[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004232496056892 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004232496056892[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761617893124 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761617893124[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380834553374 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380834553374[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004130866488592 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004130866488592[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004656685504000 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004656685504000[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287238402525 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287238402525[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810340545495 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810340545495[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365248107806 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365248107806[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082149529765 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082149529765[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004601634558648 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004601634558648[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223808240308 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223808240308[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004505515175766 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004505515175766[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173455143029 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173455143029[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694355541527 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694355541527[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288541696379 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288541696379[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035702280304 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035702280304[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991311975856 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991311975856[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005140294298345 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005140294298345[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672733326878 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672733326878[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641455484700 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641455484700[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005582321669008 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005582321669008[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814467950575 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814467950575[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311068438944 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311068438944[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600931934634 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600931934634[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004140268618442 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004140268618442[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005052858622006 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005052858622006[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404792215734 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404792215734[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670344183808 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670344183808[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004158975730252 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004158975730252[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648302307222 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648302307222[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141150201437 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141150201437[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832807782384 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832807782384[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004730845359447 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004730845359447[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193636547048 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193636547048[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284889428276 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284889428276[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005175731385828 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005175731385828[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494173075818 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494173075818[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048788286302 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048788286302[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920784783607 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920784783607[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290531191899 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290531191899[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890642351626 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890642351626[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754430587597 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004754430587597[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165970003785 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165970003785[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005023378996996 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005023378996996[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314936892812 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314936892812[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004776096511572 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004776096511572[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148329782279 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148329782279[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760569163169 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760569163169[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945558872480 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945558872480[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182627943559 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182627943559[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008830646594 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008830646594[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267588190581 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267588190581[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810913484698 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003810913484698[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004639390874863 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004639390874863[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035835724908 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035835724908[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858179719548 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858179719548[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159323593554 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159323593554[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051365101836 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051365101836[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790531980015 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790531980015[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005341946239043 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005341946239043[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477303066917 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477303066917[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301183948701 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301183948701[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004368781809755 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004368781809755[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005170615111594 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005170615111594[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291766094605 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291766094605[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336639022414 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336639022414[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111353867925 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111353867925[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176054716354 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176054716354[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186426806436 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186426806436[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869146682544 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869146682544[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005378982898818 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005378982898818[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373757151497 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373757151497[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005140750084786 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005140750084786[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241322239672 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241322239672[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008737127370 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008737127370[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146002319442 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004146002319442[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895501242313 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895501242313[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005106706996795 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005106706996795[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141502661006 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141502661006[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841010031806 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841010031806[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005228206960178 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005228206960178[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004216561683129 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004216561683129[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004954916623421 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004954916623421[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003443409071868 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003443409071868[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198347243870 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198347243870[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004907585880925 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004907585880925[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005298488925977 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005298488925977[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005996725846120 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005996725846120[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004740830147698 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004740830147698[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005121075331734 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005121075331734[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005493797775245 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005493797775245[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341400612926 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341400612926[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004816922542985 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004816922542985[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005019855356995 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005019855356995[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005219448539472 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005219448539472[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143645296468 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143645296468[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670020604899 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670020604899[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005340832770284 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005340832770284[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202361744705 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202361744705[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106731846362 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106731846362[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741624576634 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741624576634[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316021341837 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316021341837[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004733257576616 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004733257576616[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962442775294 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962442775294[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006162141984163 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006162141984163[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004742911012101 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004742911012101[0m ×2 + 17.58sWARNcontroller_managerOverrun might occur, Total time : 4834.819 us (Expected < 1666.667 us) --> Read time : 161.514 us, Update time : 4247.751 us, Write time : 425.554 us + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618388 ms (missed cycles : 4). + 17.58sWARNros2_control_nodeOverrun might occur, Total time : 4834.819 us (Expected < 1666.667 us) --> Read time : 161.514 us, Update time : 4247.751 us, Write time : 425.554 us[0m ×2 + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618388 ms (missed cycles : 4).[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005402795232624 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005402795232624[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176386127981 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176386127981[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877696514952 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877696514952[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351373713871 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351373713871[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005512345637272 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005512345637272[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350543182226 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350543182226[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005202562268748 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005202562268748[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826983225835 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826983225835[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005451690656782 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005451690656782[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005550913373841 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005550913373841[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005262641715136 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005262641715136[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056323671013 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056323671013[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004908298349466 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004908298349466[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800642065752 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800642065752[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005132057592475 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005132057592475[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918949016559 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918949016559[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773698246879 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773698246879[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004951054535248 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004951054535248[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781928097936 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781928097936[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004958520009634 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004958520009634[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773943262734 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773943262734[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648237145198 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648237145198[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004971685025400 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004971685025400[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281634590862 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281634590862[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912064048646 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912064048646[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669312784482 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669312784482[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005256383149164 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005256383149164[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870174474633 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870174474633[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614345264229 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614345264229[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005199962329797 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005199962329797[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810487493814 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810487493814[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555479629447 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555479629447[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139631513531 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139631513531[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762762419158 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762762419158[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005078426382950 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005078426382950[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923740864816 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923740864816[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005505719336300 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005505719336300[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034131085566 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034131085566[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707444754661 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707444754661[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005287785711941 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005287785711941[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004852976908975 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004852976908975[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562649299939 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562649299939[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704718229086 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704718229086[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006201082181752 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006201082181752[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005447999146021 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005447999146021[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006023068272410 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006023068272410[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280757122777 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280757122777[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004776929070898 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004776929070898[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835974850402 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835974850402[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111491961028 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111491961028[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683325033804 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683325033804[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004990167631712 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004990167631712[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540201597874 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540201597874[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005593137436980 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005593137436980[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920785444052 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920785444052[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489263420108 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489263420108[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841264544022 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004841264544022[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004426973677429 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004426973677429[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005473614411865 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005473614411865[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004829912355827 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004829912355827[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873951273782 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873951273782[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066931198394 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005066931198394[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005630512690054 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005630512690054[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004892560836775 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004892560836775[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717652757750 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717652757750[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490468804432 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490468804432[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006523422847376 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006523422847376[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007228728397507 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007228728397507[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265759578622 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265759578622[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005734720602004 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005734720602004[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006756493972818 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006756493972818[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007268146597226 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007268146597226[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005907511926490 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005907511926490[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006922741773878 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006922741773878[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005613269496128 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005613269496128[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006625405852410 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006625405852410[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374428348665 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374428348665[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006383454889252 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006383454889252[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005188708280855 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005188708280855[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005999776051089 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005999776051089[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006542235261790 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006542235261790[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004888890750867 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004888890750867[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348997977510 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348997977510[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005597964624554 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005597964624554[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007428481403296 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007428481403296[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007501021502806 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007501021502806[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007448349444447 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007448349444447[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007532506402380 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007532506402380[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005848896251474 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005848896251474[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006274400214570 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006274400214570[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007249233242428 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007249233242428[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607443808712 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607443808712[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006578836625026 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006578836625026[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006666100921090 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006666100921090[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654057250811 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654057250811[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006432100533852 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006432100533852[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006603503292455 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006603503292455[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007559933093961 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007559933093961[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007264010948184 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007264010948184[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007014928201058 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007014928201058[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007292362301063 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007292362301063[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006984536704368 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006984536704368[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007133976866722 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007133976866722[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006844102789568 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006844102789568[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007222023798050 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007222023798050[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007494731771338 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007494731771338[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007098121739025 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007098121739025[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006791599884661 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006791599884661[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006561375645064 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006561375645064[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006392049829870 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006392049829870[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007306219258653 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007306219258653[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006830970738705 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006830970738705[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006495795634134 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006495795634134[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007400493963360 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007400493963360[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006822229550764 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006822229550764[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006425555207622 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006425555207622[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006162948220713 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006162948220713[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008571594654247 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008571594654247[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007472385297241 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007472385297241[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008351735035553 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008351735035553[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007254200526030 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007254200526030[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006516433074148 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006516433074148[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008123175044945 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008123175044945[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007028141363151 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007028141363151[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006306937222520 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006306937222520[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007893901792288 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007893901792288[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006828217753571 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006828217753571[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008403517703788 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008403517703788[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007099831585965 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007099831585965[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.784942 ms (missed cycles : 10). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.784942 ms (missed cycles : 10).[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008693235694110 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008693235694110[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006922408058354 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006922408058354[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008559827447234 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008559827447234[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009521803566687 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009521803566687[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009591798121506 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009591798121506[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007697919569772 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007697919569772[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008785229853425 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008785229853425[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009589200211553 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009589200211553[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007572571273970 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007572571273970[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008560572059893 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008560572059893[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009133762178350 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009133762178350[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009557758594627 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009557758594627[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007410206367042 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007410206367042[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008273176812029 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008273176812029[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009697801561111 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009697801561111[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009646710728233 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009646710728233[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009712044867956 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009712044867956[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680599210050 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680599210050[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006682001597239 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006682001597239[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011908693891541 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011908693891541[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011035380979407 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011035380979407[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012377254640247 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012377254640247[0m ×2 + 18.78sWARNcontroller_managerOverrun might occur, Total time : 1705.933 us (Expected < 1666.667 us) --> Read time : 732.983 us, Update time : 81.312 us, Write time : 891.638 us + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011077130968024 + 18.78sWARNros2_control_nodeOverrun might occur, Total time : 1705.933 us (Expected < 1666.667 us) --> Read time : 732.983 us, Update time : 81.312 us, Write time : 891.638 us[0m ×2 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011077130968024[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010396162347836 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010396162347836[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009573521945750 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009573521945750[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008947829669807 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008947829669807[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011298403666452 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011298403666452[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009903386582202 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009903386582202[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008916463821856 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008916463821856[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011206082549823 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011206082549823[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009623675307496 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009623675307496[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012066833066915 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012066833066915[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012169577473633 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012169577473633[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009572481018199 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009572481018199[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011739683349536 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011739683349536[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009708832107331 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009708832107331[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011668380331400 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011668380331400[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012801054708974 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012801054708974[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010142005814979 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010142005814979[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011586432290435 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011586432290435[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012681777691130 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012681777691130[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009835620127765 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009835620127765[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011829446067809 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011829446067809[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009166881414232 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009166881414232[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007305340834723 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007305340834723[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009516347016584 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009516347016584[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012995874413030 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012995874413030[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012866721942459 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012866721942459[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012515332251445 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012515332251445[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014307506928361 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014307506928361[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013123057330511 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013123057330511[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014068177936469 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014068177936469[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012690958525282 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012690958525282[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011617593989743 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011617593989743[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013286795225899 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013286795225899[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011789067694587 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011789067694587[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010699831950153 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010699831950153[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009924228671270 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009924228671270[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009379464890064 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009379464890064[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014587401959451 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014587401959451[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012077216734203 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012077216734203[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014787003823895 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014787003823895[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011926129573737 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011926129573737[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844041275823 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844041275823[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006411938120389 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006411938120389[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006836135502702 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006836135502702[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007120941554719 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007120941554719[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007284115284064 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007284115284064[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011635178014359 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011635178014359[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009921417711228 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009921417711228[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014106709057695 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014106709057695[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011149060913020 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011149060913020[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009080527095250 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009080527095250[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013010240131550 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013010240131550[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010017776612720 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010017776612720[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013790172309531 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013790172309531[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010241172544744 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010241172544744[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007889894730624 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007889894730624[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011427566189454 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011427566189454[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008508168985102 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008508168985102[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011906002355369 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011906002355369[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008653276871587 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008653276871587[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011915175772893 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011915175772893[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008504327054240 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008504327054240[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011635651023630 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011635651023630[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000958213245583 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000958213245583[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931536793091 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931536793091[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206824919432 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206824919432[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007074656871628 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007074656871628[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002450060500026 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002450060500026[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459883671255 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003459883671255[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103866115135 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103866115135[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006754271774527 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006754271774527[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006049438506303 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006049438506303[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479973021627 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479973021627[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007984555042989 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007984555042989[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522206250178 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522206250178[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008935174857113 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008935174857113[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006911202306523 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006911202306523[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005511038098307 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005511038098307[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007784003308079 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007784003308079[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005939035594453 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005939035594453[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008129125403082 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008129125403082[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001848082910437 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001848082910437[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357908682171 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357908682171[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002752307959893 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002752307959893[0m ×2 + 19.46sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 19.46sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m ×2 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053611 ms (missed cycles : 4). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053611 ms (missed cycles : 4).[0m ×2 + 19.96sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 19.96sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 20.07sWARNcontroller_managerOverrun might occur, Total time : 7861.804 us (Expected < 1666.667 us) --> Read time : 161.005 us, Update time : 7096.810 us, Write time : 603.989 us + 20.07sWARNros2_control_nodeOverrun might occur, Total time : 7861.804 us (Expected < 1666.667 us) --> Read time : 161.005 us, Update time : 7096.810 us, Write time : 603.989 us[0m ×2 + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469450 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469450 ms (missed cycles : 2).[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000911381690 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000911381690[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000614941189031 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000614941189031[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.045756228529547 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.045756228529547[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027655292868535 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027655292868535[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027624465769058 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027624465769058[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015883635889258 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015883635889258[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030794006358533 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030794006358533[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.037543359692767 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.037543359692767[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021574677659985 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021574677659985[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013245228333099 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013245228333099[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013266364942611 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013266364942611[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879217752667 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879217752667[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016429920943 ×2 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016429920943[0m ×4 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002554384992135 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002554384992135[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003586230873327 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003586230873327[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003140860753705 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003140860753705[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002981775923126 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002981775923126[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002019874229953 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002019874229953[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001490938379356 ×2 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001490938379356[0m ×4 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016011348754109 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016011348754109[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016032443121594 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016032443121594[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009357049317700 ×2 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009357049317700[0m ×4 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005532052099295 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005532052099295[0m ×2 + 21.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002564873210424 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002564873210424[0m ×2 + 21.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172251543219 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172251543219[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000171984525541 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000171984525541[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000844778053075 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000844778053075[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001100741984288 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001100741984288[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000803823992461 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000803823992461[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000931349435525 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000931349435525[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000360989157704 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000360989157704[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022453808078178 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022453808078178[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031496238541396 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031496238541396[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018953787127509 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018953787127509[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010277716258632 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010277716258632[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010833087393346 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010833087393346[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001381677822618 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001381677822618[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007752795010360 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007752795010360[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022353651930861 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022353651930861[0m ×2 + 21.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025817988068430 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025817988068430[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016824520821654 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016824520821654[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012286134755486 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012286134755486[0m ×2 + 21.39sWARNcontroller_managerOverrun might occur, Total time : 2415.955 us (Expected < 1666.667 us) --> Read time : 447.864 us, Update time : 1622.020 us, Write time : 346.071 us + 21.40sWARNros2_control_nodeOverrun might occur, Total time : 2415.955 us (Expected < 1666.667 us) --> Read time : 447.864 us, Update time : 1622.020 us, Write time : 346.071 us[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012582128030407 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012582128030407[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003355268131092 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003355268131092[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944071695473 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944071695473[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000828050598732 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000828050598732[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888935521923 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888935521923[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001507545200039 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001507545200039[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002583542609103 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002583542609103[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455976136970 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001455976136970[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002338177911365 ×2 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002338177911365[0m ×4 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000491478895142 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000491478895142[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060487961877 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060487961877[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001674849608012 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001674849608012[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000219073279019 ×2 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000219073279019[0m ×4 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000577620595634 ×2 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000577620595634[0m ×4 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000905132667661 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000905132667661[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000941011090531 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000941011090531[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000860773319894 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000860773319894[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000898560316771 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000898560316771[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000885864890541 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000885864890541[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000828731422584 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000828731422584[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039169035423 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039169035423[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014257538943 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014257538943[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001950005532249 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001950005532249[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829320767228 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829320767228[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000198957654894 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000198957654894[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000440894316940 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000440894316940[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233712612562 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233712612562[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233340065539 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233340065539[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000515007857842 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000515007857842[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230158730029 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230158730029[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000229928680353 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000229928680353[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166583286746 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166583286746[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000814306885737 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000814306885737[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002523571243391 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002523571243391[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301371654138 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301371654138[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805437865737 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805437865737[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129907456147 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129907456147[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129916349274 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129916349274[0m ×2 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.813679 ms (missed cycles : 11). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.813679 ms (missed cycles : 11).[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001018103705648 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001018103705648[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000638041296812 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000638041296812[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000237688120768 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000237688120768[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361541674371 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361541674371[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377838841022 ×2 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377838841022[0m ×4 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001225585238979 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001225585238979[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000544346722709 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000544346722709[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000389122512028 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000389122512028[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001449472915097 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001449472915097[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001621479099965 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001621479099965[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182554316317 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182554316317[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304268992264 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304268992264[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001727692442014 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001727692442014[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096823446449 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096823446449[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096718020399 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096718020399[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019063713599 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019063713599[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000606574781187 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000606574781187[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000548323205849 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000548323205849[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000610903220357 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000610903220357[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000610750523087 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000610750523087[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001320078749267 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001320078749267[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001303866109503 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001303866109503[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000560343579267 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000560343579267[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001163006429608 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001163006429608[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002410549760824 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002410549760824[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393713745367 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393713745367[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001831141193644 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001831141193644[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001076023209224 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001076023209224[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002429635367424 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002429635367424[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002540819577174 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002540819577174[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001259894029133 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001259894029133[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003643268037696 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003643268037696[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708267491702 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708267491702[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001911530968602 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001911530968602[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001906458743129 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001906458743129[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000771504348207 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000771504348207[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012132885026 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012132885026[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000335596914923 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000335596914923[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000467615715911 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000467615715911[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000467623581498 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000467623581498[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002280916907188 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002280916907188[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429532498529 ×2 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429532498529[0m ×4 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001845709090116 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001845709090116[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001845724837946 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001845724837946[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799461573224 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799461573224[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001314447206244 ×2 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001314447206244[0m ×4 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673502722821 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673502722821[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709378933381 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709378933381[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002160146874418 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002160146874418[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458311605147 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458311605147[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001233580264410 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001233580264410[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209495783280 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209495783280[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000479365004756 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000479365004756[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014142609074 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014142609074[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001596711900694 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001596711900694[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803182710420 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803182710420[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002886873359671 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002886873359671[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000858879648433 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000858879648433[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000859014791013 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000859014791013[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000933341516888 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000933341516888[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000934360109657 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000934360109657[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000309574513965 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000309574513965[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575269900962 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575269900962[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001294984085775 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001294984085775[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000239927633556 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000239927633556[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000432736088388 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000432736088388[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444021840942 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444021840942[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452568403604 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452568403604[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002026460095504 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002026460095504[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006659411078371 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006659411078371[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000640327695314 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000640327695314[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047059958719 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047059958719[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063669685562 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063669685562[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000334407225143 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000334407225143[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001524567181911 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001524567181911[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000432691286213 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000432691286213[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069304993983 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069304993983[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006035387115947 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006035387115947[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007235671788543 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007235671788543[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006804180592413 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006804180592413[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006694182573837 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006694182573837[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387045186066 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387045186066[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006302244465793 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006302244465793[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006556472720456 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006556472720456[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003256294548710 ×2 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003256294548710[0m ×4 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001177429889321 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001177429889321[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035561551498 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035561551498[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035354938687 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035354938687[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000758714691552 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000758714691552[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977218953698 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977218953698[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819911907623 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819911907623[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004090067694228 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004090067694228[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000202421046550 ×2 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000202421046550[0m ×4 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000575546027815 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000575546027815[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000413545781490 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000413545781490[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000413639119098 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000413639119098[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000497798831440 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000497798831440[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010219706690 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010219706690[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000207011997443 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000207011997443[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000286181436003 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000286181436003[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001895332926634 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001895332926634[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001266507576791 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001266507576791[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001266434957278 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001266434957278[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000466557359240 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000466557359240[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000596941853906 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000596941853906[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000321613419748 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000321613419748[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000276493551535 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000276493551535[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233556752010 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233556752010[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935819737702 ×2 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935819737702[0m ×4 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369995399849 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369995399849[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000636592342175 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000636592342175[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000215322040752 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000215322040752[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076566650429 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076566650429[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001958494386180 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001958494386180[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002450633196554 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002450633196554[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487701468992 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487701468992[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000701169849139 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000701169849139[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000791333849891 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000791333849891[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000279117348984 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000279117348984[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000341804712578 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000341804712578[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086441803137 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086441803137[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839509222983 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839509222983[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003668199742982 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003668199742982[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021797984566 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021797984566[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021413504790 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021413504790[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257876601817 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001257876601817[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001250433658672 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001250433658672[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000289636630918 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000289636630918[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000164888984091 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000164888984091[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162457368962 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162457368962[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000744433184591 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000744433184591[0m ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.543853 ms (missed cycles : 8). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.543853 ms (missed cycles : 8).[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000834694403651 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000834694403651[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000879659128626 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000879659128626[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001965537149282 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001965537149282[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001962971026242 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001962971026242[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000862047386866 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000862047386866[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169410469922 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169410469922[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000194239057821 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000194239057821[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000212073967338 ×2 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000212073967338[0m ×4 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000196841797279 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000196841797279[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000197119539402 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000197119539402[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002034695043304 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002034695043304[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074255243390 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074255243390[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008433405551391 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008433405551391[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090543179283 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090543179283[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094388619560 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094388619560[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722882231365 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722882231365[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542627794358 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542627794358[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542703919752 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542703919752[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000653183352754 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000653183352754[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001017921139061 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001017921139061[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001718514785230 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001718514785230[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002601788360190 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002601788360190[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003457734233067 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003457734233067[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003901650773171 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003901650773171[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722360222764 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722360222764[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077683959698 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077683959698[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689984505613 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689984505613[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062843984742 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062843984742[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002712678803302 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002712678803302[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002519075516401 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002519075516401[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237236398457 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003237236398457[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862887142162 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862887142162[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625188604900 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625188604900[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493043971522 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493043971522[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003615575352490 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003615575352490[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730645907921 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730645907921[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150862582791 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150862582791[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545988222943 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003545988222943[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003013368832807 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003013368832807[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002683026719530 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002683026719530[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418632041052 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418632041052[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923450371065 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923450371065[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622471746729 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622471746729[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003645579916725 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003645579916725[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055891715438 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055891715438[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449500664980 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449500664980[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017905615996 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017905615996[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741499484519 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741499484519[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003136548577008 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003136548577008[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002756318795747 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002756318795747[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003485277855064 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003485277855064[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961232558471 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961232558471[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002641798267477 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002641798267477[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371989545030 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371989545030[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891220929353 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891220929353[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602310974908 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602310974908[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625590147009 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625590147009[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043820728007 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043820728007[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432672364541 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432672364541[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002914927843727 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002914927843727[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605159547889 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605159547889[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003329255752147 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003329255752147[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859635128081 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002859635128081[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003580793367530 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003580793367530[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001065376535 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001065376535[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649786503955 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649786503955[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371798151272 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371798151272[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875591862271 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875591862271[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264511495722 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264511495722[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002464647163442 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002464647163442[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634620222475 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634620222475[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336320093973 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336320093973[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003555508030843 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003555508030843[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004158626874159 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004158626874159[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004268543307444 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004268543307444[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421090365372 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421090365372[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873334765067 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873334765067[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577510418375 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577510418375[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976529617295 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976529617295[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763666974376 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763666974376[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003072858143786 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003072858143786[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659464376080 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659464376080[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362655328208 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362655328208[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846521219048 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846521219048[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553526953342 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553526953342[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463656740821 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463656740821[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003583457162164 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003583457162164[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196240525653 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196240525653[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412883772361 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412883772361[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099373135308 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099373135308[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312909452607 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312909452607[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002917626362971 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002917626362971[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740351276424 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740351276424[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203701791046 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004203701791046[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360338001553 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360338001553[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728723553779 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003728723553779[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003050696753645 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003050696753645[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751525785843 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751525785843[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949021030511 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949021030511[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176573106937 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176573106937[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003811552850900 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003811552850900[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003084751209216 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003084751209216[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754369503569 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003754369503569[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860769313089 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860769313089[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114576052935 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114576052935[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003768962905800 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003768962905800[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003826250885856 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003826250885856[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092243223896 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092243223896[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458063130606 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458063130606[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002870235546128 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002870235546128[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637301775252 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637301775252[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992018122550 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992018122550[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003734970231387 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003734970231387[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395348954924 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395348954924[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481108854718 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003481108854718[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841167863242 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841167863242[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003116345528903 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003116345528903[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762218856026 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762218856026[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118145383157 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118145383157[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003268998815484 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003268998815484[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003826615626511 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003826615626511[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018294705154 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018294705154[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003195064492131 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003195064492131[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761991337122 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761991337122[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034528172888 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034528172888[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681286242539 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681286242539[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033304435688 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033304435688[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003206550790811 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003206550790811[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864206459678 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.860830 ms (missed cycles : 7). + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864206459678[0m ×2 + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.860830 ms (missed cycles : 7).[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003095815460232 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003095815460232[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784863568452 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784863568452[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590478229502 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590478229502[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004044629234203 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004044629234203[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284127033523 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284127033523[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470780579006 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470780579006[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003475784408231 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003475784408231[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003901267268541 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003901267268541[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004087960151122 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004087960151122[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216873429608 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216873429608[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740273596344 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740273596344[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084521206279 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084521206279[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213136591033 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213136591033[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856684680104 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856684680104[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003070776161992 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003070776161992[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716873994650 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716873994650[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002986282220983 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002986282220983[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003614061510559 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003614061510559[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003956888488931 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003956888488931[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003140678999045 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003140678999045[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003780895744020 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003780895744020[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064342043945 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064342043945[0m ×2 + 23.92sWARNcontroller_managerOverrun might occur, Total time : 1715.813 us (Expected < 1666.667 us) --> Read time : 128.164 us, Update time : 70.852 us, Write time : 1516.797 us + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003186030207164 + 23.93sWARNros2_control_nodeOverrun might occur, Total time : 1715.813 us (Expected < 1666.667 us) --> Read time : 128.164 us, Update time : 70.852 us, Write time : 1516.797 us[0m ×2 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003186030207164[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002755475964456 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002755475964456[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512778809826 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512778809826[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945179206684 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945179206684[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565023832761 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565023832761[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533468871828 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533468871828[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415233641775 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415233641775[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915077477377 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915077477377[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188011632075 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188011632075[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802683352203 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802683352203[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004683146570113 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004683146570113[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004862312716825 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004862312716825[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681966824991 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681966824991[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943059674744 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943059674744[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274759506376 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274759506376[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282916123878 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282916123878[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335171007546 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335171007546[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312005876919 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312005876919[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002250009203651 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002250009203651[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003257440381754 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003257440381754[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818444056979 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818444056979[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935366586262 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935366586262[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777458188955 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777458188955[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005101426034155 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005101426034155[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808228512723 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808228512723[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576885515180 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576885515180[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004591842689801 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004591842689801[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003450247130532 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003450247130532[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054503722205 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054503722205[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092004591452 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092004591452[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103761688325 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103761688325[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004107477005355 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004107477005355[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004107589499466 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004107589499466[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106071050301 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106071050301[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004114086020114 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004114086020114[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003143102997927 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003143102997927[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003743739131354 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003743739131354[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908196360954 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908196360954[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997084002268 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997084002268[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169253142866 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169253142866[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004156384315741 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004156384315741[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143393643044 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143393643044[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128633811492 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128633811492[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112446190399 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112446190399[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204755370589 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204755370589[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950938304838 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950938304838[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037548457292 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004037548457292[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099477291247 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099477291247[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115893251272 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115893251272[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004427204875083 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004427204875083[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294206662710 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294206662710[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192731535591 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192731535591[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359998688305 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359998688305[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792973984240 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792973984240[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838792664703 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838792664703[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752625141829 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752625141829[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004839326309099 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004839326309099[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004485581568528 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004485581568528[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278091360144 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278091360144[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581105759241 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581105759241[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324936247661 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324936247661[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155331734247 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155331734247[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318540618940 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318540618940[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143419908521 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143419908521[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004306193507812 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004306193507812[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131244904979 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131244904979[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004014249557491 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004014249557491[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947101975557 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947101975557[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562510780298 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562510780298[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004711998954296 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004711998954296[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299453432378 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299453432378[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109395291746 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109395291746[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650654691943 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650654691943[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327279653807 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327279653807[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115951017525 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115951017525[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407818669428 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407818669428[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154791766141 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154791766141[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993135764678 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993135764678[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894208065487 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894208065487[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003836478800915 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003836478800915[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369342002770 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369342002770[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122183476643 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122183476643[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408985543568 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408985543568[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135069624099 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135069624099[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960143785010 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960143785010[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438732229619 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438732229619[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061950843389 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061950843389[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907036691301 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907036691301[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827053440088 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827053440088[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004783114813332 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004783114813332[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351087601884 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351087601884[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501185279038 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501185279038[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069762421716 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069762421716[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888532145421 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888532145421[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003802364685770 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003802364685770[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004749515666743 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004749515666743[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321674381730 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321674381730[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004039382650116 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004039382650116[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978960319496 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978960319496[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420461576609 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420461576609[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059337396983 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059337396983[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003834994215480 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003834994215480[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708856950822 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708856950822[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004644354042591 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004644354042591[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218801679614 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218801679614[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954007313093 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954007313093[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004886001273691 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004886001273691[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348801511731 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348801511731[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005767626246 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005767626246[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004505753007585 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004505753007585[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531564 ms (missed cycles : 5). + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093529152044 + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531564 ms (missed cycles : 5).[0m ×2 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093529152044[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837956645752 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837956645752[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235763202913 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235763202913[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688969185542 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688969185542[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147565061912 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147565061912[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345023609041 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345023609041[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005482207278702 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005482207278702[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004639627855988 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004639627855988[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005120103446131 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005120103446131[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418837158993 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418837158993[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977664772326 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977664772326[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866725525908 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866725525908[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004243895297368 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004243895297368[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003857396798316 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003857396798316[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005095466233013 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005095466233013[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308887535502 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308887535502[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775777113486 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775777113486[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155979094740 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155979094740[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782668287555 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782668287555[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004649232429560 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004649232429560[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762895260438 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762895260438[0m ×2 + 24.98sWARNcontroller_managerOverrun might occur, Total time : 4472.669 us (Expected < 1666.667 us) --> Read time : 204.476 us, Update time : 3588.212 us, Write time : 679.981 us + 24.98sWARNros2_control_nodeOverrun might occur, Total time : 4472.669 us (Expected < 1666.667 us) --> Read time : 204.476 us, Update time : 3588.212 us, Write time : 679.981 us[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172410442204 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172410442204[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964292308928 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964292308928[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412279083088 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412279083088[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374976727685 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374976727685[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005880519786418 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005880519786418[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005918403983053 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005918403983053[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835089796563 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835089796563[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005283201989388 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005283201989388[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415779211619 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415779211619[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005238479844287 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005238479844287[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005275045520836 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005275045520836[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327838653231 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327838653231[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783899201550 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783899201550[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004602692603768 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004602692603768[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966241359933 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966241359933[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781103971176 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781103971176[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073237974764 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073237974764[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004996177768495 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004996177768495[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005116893857924 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005116893857924[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004207973092841 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004207973092841[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637448347984 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637448347984[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003562409442221 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003562409442221[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394638976572 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394638976572[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284385190997 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005284385190997[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006028635014087 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006028635014087[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541375613754 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541375613754[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003910438179649 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003910438179649[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705333228157 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705333228157[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005455262223212 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005455262223212[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005718566923935 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005718566923935[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005834824504670 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005834824504670[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638472554882 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638472554882[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144780629717 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144780629717[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005355124602793 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005355124602793[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279740548104 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279740548104[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005022702107446 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005022702107446[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099329884055 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099329884055[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004787647327249 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004787647327249[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005165839174163 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005165839174163[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352722234867 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352722234867[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109371619487 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109371619487[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870563591937 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870563591937[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006134221855043 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006134221855043[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004840985788116 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004840985788116[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005180405115794 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005180405115794[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005547082860831 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005547082860831[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361133178143 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361133178143[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005062734702924 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005062734702924[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005235072187239 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005235072187239[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005292392107331 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005292392107331[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148547481419 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004148547481419[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004647763888168 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004647763888168[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004865459972342 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004865459972342[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005087718292927 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005087718292927[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038409213487 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038409213487[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728243865728 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728243865728[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014568688259 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014568688259[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005051784137513 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005051784137513[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108401187075 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108401187075[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034804142258 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034804142258[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004712349245416 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004712349245416[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783933531807 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783933531807[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170291684257 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170291684257[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005391971158121 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005391971158121[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005378524495799 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005378524495799[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226373090462 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226373090462[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143797792380 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143797792380[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040216420494 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040216420494[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221813367299 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221813367299[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005085615410426 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005085615410426[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964551947880 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964551947880[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005061067214221 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005061067214221[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945302794137 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004945302794137[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004996945520128 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004996945520128[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005732208607540 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005732208607540[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005770008427748 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005770008427748[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890814783000 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890814783000[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006318933639 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006318933639[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416439988373 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416439988373[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004860261019008 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004860261019008[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191329730241 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191329730241[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005062876150441 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005062876150441[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225521801302 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225521801302[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895244137615 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895244137615[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736854962929 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736854962929[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005038828535529 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005038828535529[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004795457414085 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004795457414085[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004958820610393 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004958820610393[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004739501783640 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004739501783640[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002858097083652 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002858097083652[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747628213176 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747628213176[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005782965630285 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005782965630285[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134848726653 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134848726653[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005694183841113 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005694183841113[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233968217263 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233968217263[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004796794071765 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004796794071765[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328344326444 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328344326444[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887581444968 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887581444968[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542754073109 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542754073109[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340477275942 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340477275942[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005282831729025 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005282831729025[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826663117175 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826663117175[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004455528655470 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004455528655470[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004958774027784 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004958774027784[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004578093210387 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004578093210387[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917774480223 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917774480223[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150783121233 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150783121233[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004717117258034 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004717117258034[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004663663872252 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004663663872252[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005773720361108 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005773720361108[0m ×2 + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645265 ms (missed cycles : 4). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645265 ms (missed cycles : 4).[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005914340111107 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005914340111107[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004806435318374 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004806435318374[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004843903913960 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004843903913960[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005453927312538 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005453927312538[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150490832313 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150490832313[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751647678406 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751647678406[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005774252543669 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005774252543669[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005042964234889 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005042964234889[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380038421295 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380038421295[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005214675446967 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005214675446967[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004553065520941 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004553065520941[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005506215412278 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005506215412278[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004538187523779 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004538187523779[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977282291236 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977282291236[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354496439005 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354496439005[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308464684897 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308464684897[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005370728387009 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005370728387009[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435550064721 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435550064721[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005367677126123 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005367677126123[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400094359936 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400094359936[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393618071900 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393618071900[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809864007274 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809864007274[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145854870250 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145854870250[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746789440131 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746789440131[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760786958317 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760786958317[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546270181114 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546270181114[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004731870464672 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004731870464672[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005351125702548 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005351125702548[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005716502642475 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005716502642475[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004608176933851 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004608176933851[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005210584199680 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005210584199680[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005566248057344 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005566248057344[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439812242538 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439812242538[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005142442602252 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005142442602252[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314675553958 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314675553958[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493653518656 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493653518656[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181737256308 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181737256308[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005471934605265 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005471934605265[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005526022459625 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005526022459625[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357125282256 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357125282256[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004832731411138 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004832731411138[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823465446310 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823465446310[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242521596272 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242521596272[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675697962865 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675697962865[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833663165102 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833663165102[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005444314884855 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005444314884855[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005333614979157 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005333614979157[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509072334570 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509072334570[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295725652396 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295725652396[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005125804926000 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005125804926000[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176488494403 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176488494403[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010431000515 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010431000515[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870984883238 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870984883238[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005041047995546 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005041047995546[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857797920017 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857797920017[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004949126841541 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004949126841541[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004770919436729 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004770919436729[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633882392312 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633882392312[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004939434857904 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004939434857904[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704651723515 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704651723515[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869137215907 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869137215907[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004645997259225 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004645997259225[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004488612852525 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004488612852525[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928287483106 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928287483106[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004664235912408 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004664235912408[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473929205355 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473929205355[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495824622665 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495824622665[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105535047871 + 26.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105535047871[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764524430540 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764524430540[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196061584164 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196061584164[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006204020595123 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006204020595123[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408878407994 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005408878407994[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004847274834134 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004847274834134[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005847514737225 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005847514737225[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090883982141 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090883982141[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005629693449374 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005629693449374[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004916629031110 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004916629031110[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443760127637 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443760127637[0m ×2 + 26.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005432320950285 + 26.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005432320950285[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761658837891 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761658837891[0m ×2 + 26.47sWARNcontroller_managerOverrun might occur, Total time : 3413.677 us (Expected < 1666.667 us) --> Read time : 159.225 us, Update time : 58.742 us, Write time : 3195.710 us + 26.47sWARNros2_control_nodeOverrun might occur, Total time : 3413.677 us (Expected < 1666.667 us) --> Read time : 159.225 us, Update time : 58.742 us, Write time : 3195.710 us[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294032098033 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294032098033[0m ×2 + 26.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735461245605 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735461245605[0m ×2 + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054007 ms (missed cycles : 4). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054007 ms (missed cycles : 4).[0m ×2 + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676241 ms (missed cycles : 4). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676241 ms (missed cycles : 4).[0m ×2 + 28.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000114775804324 + 28.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000114775804324[0m ×2 + 28.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001110246656036 + 28.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001110246656036[0m ×2 + 28.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003100324486725 + 28.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003100324486725[0m ×2 + 28.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177248970579 + 28.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002177248970579[0m ×2 + 28.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002198185427738 + 28.09sWARNcontroller_managerOverrun might occur, Total time : 2158.932 us (Expected < 1666.667 us) --> Read time : 108.193 us, Update time : 1745.390 us, Write time : 305.349 us + 28.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002198185427738[0m ×2 + 28.10sWARNros2_control_nodeOverrun might occur, Total time : 2158.932 us (Expected < 1666.667 us) --> Read time : 108.193 us, Update time : 1745.390 us, Write time : 305.349 us[0m ×2 + 28.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001218585824029 + 28.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001218585824029[0m ×2 + 28.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000175979685589 + 28.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000175979685589[0m ×2 + 28.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162802443746 ×2 + 28.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162802443746[0m ×4 + 28.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203010698911 ×2 + 28.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203010698911[0m ×4 + 28.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064224766825 + 28.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064224766825[0m ×2 + 28.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000223078069631 + 28.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000223078069631[0m ×2 + 28.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000783877129024 + 28.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000783877129024[0m ×2 + 28.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001058616823198 + 28.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001058616823198[0m ×2 + 28.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682602612949 ×2 + 28.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682602612949[0m ×4 + 28.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000338514839987 + 28.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000338514839987[0m ×2 + 28.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122139032441 ×2 + 28.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122139032441[0m ×4 + 28.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042400379887580 + 28.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042400379887580[0m ×2 + 28.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025854567460766 + 28.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025854567460766[0m ×2 + 28.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014190708224103 + 28.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014190708224103[0m ×2 + 28.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014221294450906 + 28.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014221294450906[0m ×2 + 28.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006526218956320 + 28.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006526218956320[0m ×2 + 28.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001943508751529 + 28.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001943508751529[0m ×2 + 28.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001943327101216 + 28.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001943327101216[0m ×2 + 28.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000759725350203 ×2 + 28.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000759725350203[0m ×4 + 28.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002077124643664 + 28.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002077124643664[0m ×2 + 28.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002528571551383 + 28.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002528571551383[0m ×2 + 28.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002293055849802 + 28.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002293055849802[0m ×2 + 28.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001986495457961 + 28.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001986495457961[0m ×2 + 28.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001727570612643 + 28.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001727570612643[0m ×2 + 28.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001541461287023 + 28.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001541461287023[0m ×2 + 28.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001270890782201 + 28.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001270890782201[0m ×2 + 28.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000989298487756 ×2 + 28.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000989298487756[0m ×4 + 28.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000733406531717 + 28.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000733406531717[0m ×2 + 28.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000313669472519 + 28.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000313669472519[0m ×2 + 28.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032315182443590 + 28.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032315182443590[0m ×2 + 28.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019468099161128 ×2 + 28.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019468099161128[0m ×4 + 28.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010589322633647 + 28.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010589322633647[0m ×2 + 28.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011333743105094 + 28.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011333743105094[0m ×2 + 28.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416826437285 + 28.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416826437285[0m ×2 + 28.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016209035310207 + 28.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016209035310207[0m ×2 + 28.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008291932067123 + 28.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008291932067123[0m ×2 + 28.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003260178970685 + 28.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003260178970685[0m ×2 + 28.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003260170839252 + 28.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003260170839252[0m ×2 + 28.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000286661154703 ×2 + 28.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000286661154703[0m ×4 + 28.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001287816141144 + 28.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001287816141144[0m ×2 + 28.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001860206888843 + 28.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001860206888843[0m ×2 + 28.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043297662712005 + 28.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043297662712005[0m ×2 + 28.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025879580693194 + 28.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025879580693194[0m ×2 + 28.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036134432946492 + 28.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036134432946492[0m ×2 + 28.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019979852919755 + 28.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019979852919755[0m ×2 + 28.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018894577261881 + 28.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018894577261881[0m ×2 + 28.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020334636284636 + 28.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020334636284636[0m ×2 + 28.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009714085023505 + 28.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009714085023505[0m ×2 + 28.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313310064052 + 28.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313310064052[0m ×2 + 28.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313243201849 + 28.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313243201849[0m ×2 + 28.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008445843370095 + 28.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008445843370095[0m ×2 + 28.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130188997781 + 28.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130188997781[0m ×2 + 28.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007619422879519 + 28.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007619422879519[0m ×2 + 28.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010054905871539 + 28.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010054905871539[0m ×2 + 28.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017472013385588 + 28.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017472013385588[0m ×2 + 28.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021134621068390 + 28.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021134621068390[0m ×2 + 28.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016823825523400 + 28.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016823825523400[0m ×2 + 28.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028140912040980 + 28.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028140912040980[0m ×2 + 28.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020090028553368 + 28.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020090028553368[0m ×2 + 28.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020939963822251 + 28.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020939963822251[0m ×2 + 28.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014938885457375 + 28.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014938885457375[0m ×2 + 28.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015111054833586 + 28.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015111054833586[0m ×2 + 28.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017621877201982 + 28.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017621877201982[0m ×2 + 28.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015933406025686 + 28.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015933406025686[0m ×2 + 28.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023441676390819 + 28.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023441676390819[0m ×2 + 28.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029475708008467 + 28.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029475708008467[0m ×2 + 28.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018691586530984 + 28.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018691586530984[0m ×2 + 28.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020272447110375 + 28.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020272447110375[0m ×2 + 28.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016275482794033 + 28.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016275482794033[0m ×2 + 28.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021643551539132 + 28.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021643551539132[0m ×2 + 28.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016987325202757 + 28.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016987325202757[0m ×2 + 28.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020105162197195 + 28.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020105162197195[0m ×2 + 28.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014865149470629 + 28.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014865149470629[0m ×2 + 28.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016310327643390 + 28.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016310327643390[0m ×2 + 28.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015671425030616 + 28.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015671425030616[0m ×2 + 28.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013854765770455 + 28.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013854765770455[0m ×2 + 28.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015702120615036 + 28.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015702120615036[0m ×2 + 28.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012503201046929 + 28.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012503201046929[0m ×2 + 28.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014004026243655 + 28.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014004026243655[0m ×2 + 28.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014356598949039 + 28.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014356598949039[0m ×2 + 28.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012428248230528 + 28.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012428248230528[0m ×2 + 28.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013969066776602 + 28.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013969066776602[0m ×2 + 28.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010318378555157 + 28.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010318378555157[0m ×2 + 28.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003334167756131 + 28.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003334167756131[0m ×2 + 28.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126066383197 + 28.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126066383197[0m ×2 + 28.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999449376503 + 28.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004999449376503[0m ×2 + 28.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079684203282 + 28.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079684203282[0m ×2 + 28.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052354525945 + 28.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052354525945[0m ×2 + 28.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004039366585929 + 28.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004039366585929[0m ×2 + 28.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134774871330 + 28.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134774871330[0m ×2 + 28.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002746536875763 + 28.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002746536875763[0m ×2 + 28.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002982539328124 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002982539328124[0m ×2 + 28.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002096360343925 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002096360343925[0m ×2 + 28.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222852258138 + 28.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222852258138[0m ×2 + 28.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794322 ms (missed cycles : 4). + 28.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794322 ms (missed cycles : 4).[0m ×2 + 28.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001753289827765 + 28.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001753289827765[0m ×2 + 28.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002071528866705 + 28.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002071528866705[0m ×2 + 28.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002203064782769 + 28.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002203064782769[0m ×2 + 28.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002184465915725 + 28.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002184465915725[0m ×2 + 28.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002428631857919 + 28.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002428631857919[0m ×2 + 28.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002380954561392 + 28.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002380954561392[0m ×2 + 28.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002515645887296 + 28.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002515645887296[0m ×2 + 28.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002471115127306 + 28.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002471115127306[0m ×2 + 28.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002471143769502 + 28.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002471143769502[0m ×2 + 28.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722746870464 + 28.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722746870464[0m ×2 + 28.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639678911576 + 28.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639678911576[0m ×2 + 28.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081530491473 + 28.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003081530491473[0m ×2 + 28.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216231200900 + 28.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216231200900[0m ×2 + 28.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991139590050 + 28.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991139590050[0m ×2 + 29.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003451293009499 + 29.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003451293009499[0m ×2 + 29.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003339593287203 + 29.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003339593287203[0m ×2 + 29.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037862327940 + 29.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037862327940[0m ×2 + 29.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284875107129 + 29.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284875107129[0m ×2 + 29.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002977730532224 + 29.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002977730532224[0m ×2 + 29.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778821958115 + 29.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778821958115[0m ×2 + 29.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236274009869 + 29.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236274009869[0m ×2 + 29.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923673657952 + 29.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002923673657952[0m ×2 + 29.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003057294338993 + 29.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003057294338993[0m ×2 + 29.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003138468975459 + 29.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003138468975459[0m ×2 + 29.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383576895892 + 29.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383576895892[0m ×2 + 29.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297082883669 + 29.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297082883669[0m ×2 + 29.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540874393529 + 29.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540874393529[0m ×2 + 29.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003153155587985 + 29.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003153155587985[0m ×2 + 29.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003397431071300 + 29.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003397431071300[0m ×2 + 29.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035427300161 + 29.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035427300161[0m ×2 + 29.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002802955743632 + 29.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002802955743632[0m ×2 + 29.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255866309434 + 29.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255866309434[0m ×2 + 29.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002926353446756 + 29.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002926353446756[0m ×2 + 29.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724048593857 + 29.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724048593857[0m ×2 + 29.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176915238481 + 29.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176915238481[0m ×2 + 29.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871146188584 + 29.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871146188584[0m ×2 + 29.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115787041779 + 29.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115787041779[0m ×2 + 29.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002829120257262 + 29.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002829120257262[0m ×2 + 29.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002660759472901 + 29.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002660759472901[0m ×2 + 29.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572847911261 + 29.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572847911261[0m ×2 + 29.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021361273361 + 29.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021361273361[0m ×2 + 29.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263877473007 + 29.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263877473007[0m ×2 + 29.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003006768890150 + 29.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003006768890150[0m ×2 + 29.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831635583046 + 29.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831635583046[0m ×2 + 29.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660757125197 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660757125197[0m ×2 + 29.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194549685314 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194549685314[0m ×2 + 29.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003436788566438 + 29.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003436788566438[0m ×2 + 29.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039599783737 + 29.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039599783737[0m ×2 + 29.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788316819349 + 29.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788316819349[0m ×2 + 29.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642030851955 + 29.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642030851955[0m ×2 + 29.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002567087565267 + 29.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002567087565267[0m ×2 + 29.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395830455209 + 29.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395830455209[0m ×2 + 29.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015237177111 + 29.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015237177111[0m ×2 + 29.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003256184214635 + 29.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003256184214635[0m ×2 + 29.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916332054502 + 29.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916332054502[0m ×2 + 29.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002650883292928 + 29.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002650883292928[0m ×2 + 29.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003811542987 + 29.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003811542987[0m ×2 + 29.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003464534273505 + 29.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003464534273505[0m ×2 + 29.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900075478766 + 29.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900075478766[0m ×2 + 29.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346330632787 + 29.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346330632787[0m ×2 + 29.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002979476833036 + 29.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002979476833036[0m ×2 + 29.37sWARNcontroller_managerOverrun might occur, Total time : 4332.323 us (Expected < 1666.667 us) --> Read time : 3882.750 us, Update time : 80.553 us, Write time : 369.020 us + 29.37sWARNros2_control_nodeOverrun might occur, Total time : 4332.323 us (Expected < 1666.667 us) --> Read time : 3882.750 us, Update time : 80.553 us, Write time : 369.020 us[0m ×2 + 29.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003080959963118 + 29.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003080959963118[0m ×2 + 29.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868922792456 + 29.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868922792456[0m ×2 + 29.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676630249921 + 29.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676630249921[0m ×2 + 29.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205095168217 + 29.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205095168217[0m ×2 + 29.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898500952134 + 29.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898500952134[0m ×2 + 29.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003705875674501 + 29.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003705875674501[0m ×2 + 29.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181887413219 + 29.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181887413219[0m ×2 + 29.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002851314184478 + 29.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002851314184478[0m ×2 + 29.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288111925826 + 29.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288111925826[0m ×2 + 29.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002914614218029 + 29.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002914614218029[0m ×2 + 29.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692723816923 + 29.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692723816923[0m ×2 + 29.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575691318724 + 29.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575691318724[0m ×2 + 29.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002526431018116 + 29.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002526431018116[0m ×2 + 29.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003336630307946 + 29.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003336630307946[0m ×2 + 29.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002981935410014 + 29.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002981935410014[0m ×2 + 29.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002762057531319 + 29.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002762057531319[0m ×2 + 29.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003567656634464 + 29.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003567656634464[0m ×2 + 29.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003103590617048 + 29.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003103590617048[0m ×2 + 29.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536689208785 + 29.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536689208785[0m ×2 + 29.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003061828561103 + 29.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003061828561103[0m ×2 + 29.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781031267359 + 29.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781031267359[0m ×2 + 29.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018323214192 + 29.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018323214192[0m ×2 + 29.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105446372902 + 29.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105446372902[0m ×2 + 29.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172340119661 + 29.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172340119661[0m ×2 + 29.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482709763118 + 29.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482709763118[0m ×2 + 29.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712488338930 + 29.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712488338930[0m ×2 + 29.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169600659360 + 29.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169600659360[0m ×2 + 29.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002833479904924 + 29.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002833479904924[0m ×2 + 29.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003624399602814 + 29.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003624399602814[0m ×2 + 29.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003103285273036 + 29.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003103285273036[0m ×2 + 29.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002786231202603 + 29.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002786231202603[0m ×2 + 29.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578004381149 + 29.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578004381149[0m ×2 + 29.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003072030225799 + 29.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003072030225799[0m ×2 + 29.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002767046845585 + 29.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002767046845585[0m ×2 + 29.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002598916235333 + 29.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002598916235333[0m ×2 + 29.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003808704702511 + 29.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003808704702511[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874882725408 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874882725408[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263446138149 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263446138149[0m ×2 + 29.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490926726343 + 29.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490926726343[0m ×2 + 29.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017923456152 + 29.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003017923456152[0m ×2 + 29.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042249133475 + 29.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042249133475[0m ×2 + 29.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067629679434 + 29.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067629679434[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408410102808 + 29.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408410102808[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002985837116853 + 29.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002985837116853[0m ×2 + 29.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761118399982 + 29.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761118399982[0m ×2 + 29.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003186322463921 + 29.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003186322463921[0m ×2 + 29.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002832551474461 + 29.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002832551474461[0m ×2 + 29.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609114957286 + 29.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003609114957286[0m ×2 + 29.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085668380058 + 29.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085668380058[0m ×2 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003504377375871 + 29.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003504377375871[0m ×2 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014770896072 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014770896072[0m ×2 + 29.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725048800918 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725048800918[0m ×2 + 29.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501675193614 + 29.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501675193614[0m ×2 + 29.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003022529384308 + 29.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003022529384308[0m ×2 + 29.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003440498260836 + 29.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003440498260836[0m ×2 + 29.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771474753063 + 29.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771474753063[0m ×2 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885705865664 + 29.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885705865664[0m ×2 + 29.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630628312600 + 29.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630628312600[0m ×2 + 29.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002497809153208 + 29.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002497809153208[0m ×2 + 29.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254659564665 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254659564665[0m ×2 + 29.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906536453595 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906536453595[0m ×2 + 29.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705545439554 + 29.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705545439554[0m ×2 + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003000586858856 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003000586858856[0m ×2 + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055313849477 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055313849477[0m ×2 + 29.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429303949092 + 29.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429303949092[0m ×2 + 29.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228407370623 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228407370623[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394071572542 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394071572542[0m ×2 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178927030679 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178927030679[0m ×2 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427586051133 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427586051133[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003831165827616 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003831165827616[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196208546556 + 29.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196208546556[0m ×2 + 29.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026375588376 + 29.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026375588376[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060598479523 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060598479523[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003319800801327 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003319800801327[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003722857434579 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003722857434579[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003107464994215 + 29.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003107464994215[0m ×2 + 29.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745868492597 + 29.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745868492597[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499233796338 + 29.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499233796338[0m ×2 + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069457 ms (missed cycles : 3). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069457 ms (missed cycles : 3).[0m ×2 + 29.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002994923857186 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002994923857186[0m ×2 + 30.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002554520727072 + 30.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002554520727072[0m ×2 + 30.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821323509717 + 30.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821323509717[0m ×2 + 30.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554508959516 + 30.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554508959516[0m ×2 + 30.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928155948797 + 30.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928155948797[0m ×2 + 30.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908381879398 + 30.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908381879398[0m ×2 + 30.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302431369468 + 30.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302431369468[0m ×2 + 30.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474599219147 + 30.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474599219147[0m ×2 + 30.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205957968480 + 30.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205957968480[0m ×2 + 30.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389670292722 + 30.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389670292722[0m ×2 + 30.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071487989627 + 30.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071487989627[0m ×2 + 30.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133441075685 + 30.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133441075685[0m ×2 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003330042185113 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003330042185113[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028588039645 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028588039645[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264035668518 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264035668518[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991607766965 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991607766965[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004009653491970 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004009653491970[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003256942612986 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003256942612986[0m ×2 + 30.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990363823623 + 30.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990363823623[0m ×2 + 30.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023610598370 + 30.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023610598370[0m ×2 + 30.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267906595630 + 30.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267906595630[0m ×2 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660040668378 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660040668378[0m ×2 + 30.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049375578026 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049375578026[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952115667887 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002952115667887[0m ×2 + 30.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003674717087932 + 30.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003674717087932[0m ×2 + 30.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304581551108 + 30.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304581551108[0m ×2 + 30.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003489892376985 + 30.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003489892376985[0m ×2 + 30.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137799772911 + 30.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137799772911[0m ×2 + 30.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352682843678 + 30.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352682843678[0m ×2 + 30.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066100154778 + 30.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066100154778[0m ×2 + 30.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003296527419357 + 30.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003296527419357[0m ×2 + 30.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003992420491861 + 30.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003992420491861[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198283579570 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198283579570[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366825081104 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366825081104[0m ×2 + 30.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077007083396 + 30.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077007083396[0m ×2 + 30.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284334867464 + 30.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284334867464[0m ×2 + 30.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003968288965820 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003968288965820[0m ×2 + 30.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003218165859274 + 30.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003218165859274[0m ×2 + 30.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926618944947 + 30.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926618944947[0m ×2 + 30.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003199791895481 + 30.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003199791895481[0m ×2 + 30.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904918398959 + 30.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904918398959[0m ×2 + 30.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003187072526156 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003187072526156[0m ×2 + 30.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913025044020 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913025044020[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287882421993 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287882421993[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416772106824 + 30.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416772106824[0m ×2 + 30.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025561809606 + 30.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025561809606[0m ×2 + 30.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227273004679 + 30.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227273004679[0m ×2 + 30.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003369136203903 + 30.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003369136203903[0m ×2 + 30.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004065818835401 + 30.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004065818835401[0m ×2 + 30.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192542988267 + 30.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192542988267[0m ×2 + 30.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002973805052836 + 30.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002973805052836[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003664756547572 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003664756547572[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241216030141 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241216030141[0m ×2 + 30.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541567270903 + 30.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004541567270903[0m ×2 + 30.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906690632336 + 30.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906690632336[0m ×2 + 30.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003808774137978 + 30.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003808774137978[0m ×2 + 30.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004216428665031 + 30.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004216428665031[0m ×2 + 30.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004580954780457 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004580954780457[0m ×2 + 30.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316961342029 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003316961342029[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569312559399 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569312559399[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003582542212973 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003582542212973[0m ×2 + 30.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004075829529543 + 30.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004075829529543[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438048584849 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438048584849[0m ×2 + 30.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478170768938 + 30.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478170768938[0m ×2 + 30.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967235938207 + 30.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967235938207[0m ×2 + 30.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758813648703 + 30.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758813648703[0m ×2 + 30.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212022624180 + 30.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212022624180[0m ×2 + 30.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453915848627 + 30.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453915848627[0m ×2 + 30.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004567428779418 + 30.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004567428779418[0m ×2 + 30.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004759377315065 + 30.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004759377315065[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659814571488 + 30.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659814571488[0m ×2 + 30.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002443279126008 + 30.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002443279126008[0m ×2 + 30.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003672579361056 + 30.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003672579361056[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309632710813 + 30.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309632710813[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563016326718 + 30.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563016326718[0m ×2 + 30.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005762571494424 + 30.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005762571494424[0m ×2 + 30.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320018548168 + 30.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320018548168[0m ×2 + 30.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004433904919794 + 30.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004433904919794[0m ×2 + 30.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005078428337723 + 30.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005078428337723[0m ×2 + 30.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818318920311 + 30.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003818318920311[0m ×2 + 30.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002980754468654 + 30.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002980754468654[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193411504110 + 30.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193411504110[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004399664676938 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004399664676938[0m ×2 + 30.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496696063920 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496696063920[0m ×2 + 30.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844395676607 + 30.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844395676607[0m ×2 + 30.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735482440358 + 30.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735482440358[0m ×2 + 30.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004751554500667 + 30.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004751554500667[0m ×2 + 30.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608188794080 + 30.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608188794080[0m ×2 + 30.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976476091755 + 30.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976476091755[0m ×2 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004617264382079 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004617264382079[0m ×2 + 30.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565672302873 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565672302873[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003199813252390 + 30.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003199813252390[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758670729598 + 30.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758670729598[0m ×2 + 30.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004930333517847 + 30.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004930333517847[0m ×2 + 30.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004784150516545 + 30.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004784150516545[0m ×2 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653692719288 + 30.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653692719288[0m ×2 + 30.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707370715450 + 30.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707370715450[0m ×2 + 30.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582191815185 + 30.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582191815185[0m ×2 + 30.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004611160364458 + 30.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004611160364458[0m ×2 + 30.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506033641624 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506033641624[0m ×2 + 30.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431227274601 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431227274601[0m ×2 + 30.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460106449581 + 30.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460106449581[0m ×2 + 30.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396481055187 + 30.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396481055187[0m ×2 + 30.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355198104599 + 30.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355198104599[0m ×2 + 30.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408166148552 + 30.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408166148552[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358496955612 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358496955612[0m ×2 + 30.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004325491975816 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004325491975816[0m ×2 + 30.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303675587978 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004303675587978[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482916807713 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482916807713[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394426007077 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394426007077[0m ×2 + 30.84sWARNcontroller_managerOverrun might occur, Total time : 3368.526 us (Expected < 1666.667 us) --> Read time : 124.593 us, Update time : 48.602 us, Write time : 3195.331 us + 30.84sWARNros2_control_nodeOverrun might occur, Total time : 3368.526 us (Expected < 1666.667 us) --> Read time : 124.593 us, Update time : 48.602 us, Write time : 3195.331 us[0m ×2 + 30.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334780847810 + 30.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334780847810[0m ×2 + 30.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294718984589 + 30.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294718984589[0m ×2 + 30.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004985914809890 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004985914809890[0m ×2 + 30.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034212519170 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034212519170[0m ×2 + 30.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627914734440 + 30.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627914734440[0m ×2 + 30.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449031213887 + 30.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449031213887[0m ×2 + 30.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004769465003842 + 30.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004769465003842[0m ×2 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529450156917 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529450156917[0m ×2 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380978725122 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380978725122[0m ×2 + 30.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554830298147 + 30.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554830298147[0m ×2 + 30.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389929688683 + 30.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389929688683[0m ×2 + 30.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283695994714 + 30.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283695994714[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603159157235 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603159157235[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409032268379 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409032268379[0m ×2 + 30.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581840205904 + 30.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581840205904[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396148126114 + 30.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396148126114[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280536732049 + 30.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280536732049[0m ×2 + 30.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598526145333 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598526145333[0m ×2 + 30.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398339048905 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398339048905[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569665280914 + 30.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569665280914[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372163897819 + 30.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372163897819[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246535584698 + 30.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246535584698[0m ×2 + 30.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004561142824866 + 30.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004561142824866[0m ×2 + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925081 ms (missed cycles : 3). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925081 ms (missed cycles : 3).[0m ×2 + 31.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355975842834 + 31.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355975842834[0m ×2 + 31.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002359631825119 + 31.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002359631825119[0m ×2 + 31.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458774371752 + 31.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458774371752[0m ×2 + 31.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605412016871 + 31.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605412016871[0m ×2 + 31.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014100375005 + 31.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014100375005[0m ×2 + 31.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005030866891886 + 31.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005030866891886[0m ×2 + 31.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004571971039029 + 31.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004571971039029[0m ×2 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333066416992 + 31.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333066416992[0m ×2 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190055728815 + 31.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190055728815[0m ×2 + 31.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005227346500699 + 31.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005227346500699[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004721158183307 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004721158183307[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390006784706 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390006784706[0m ×2 + 31.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946691294347 + 31.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946691294347[0m ×2 + 31.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004512691544703 + 31.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004512691544703[0m ×2 + 31.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237588646627 + 31.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237588646627[0m ×2 + 31.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790766468663 + 31.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790766468663[0m ×2 + 31.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004402506640013 + 31.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004402506640013[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953014869244 + 31.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953014869244[0m ×2 + 31.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491000945762 + 31.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491000945762[0m ×2 + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179110456389 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179110456389[0m ×2 + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005415437804757 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005415437804757[0m ×2 + 31.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004889520149443 + 31.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004889520149443[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005885492067610 + 31.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005885492067610[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005092046526307 + 31.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005092046526307[0m ×2 + 31.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381142595414 + 31.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381142595414[0m ×2 + 31.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728281086965 + 31.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728281086965[0m ×2 + 31.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304262949231 + 31.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304262949231[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835793025614 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835793025614[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361285358682 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361285358682[0m ×2 + 31.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890376758648 + 31.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890376758648[0m ×2 + 31.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386348119993 + 31.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386348119993[0m ×2 + 31.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076375208570 + 31.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076375208570[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895680173177 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003895680173177[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404364901870 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404364901870[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005482825593346 + 31.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005482825593346[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004684479196562 + 31.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004684479196562[0m ×2 + 31.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004230304040723 + 31.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004230304040723[0m ×2 + 31.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005182272658059 + 31.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005182272658059[0m ×2 + 31.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535631258797 + 31.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535631258797[0m ×2 + 31.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004813079682756 + 31.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004813079682756[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298667403838 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298667403838[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983884649396 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983884649396[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005370563707194 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005370563707194[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620898428113 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620898428113[0m ×2 + 31.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004201210536639 + 31.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004201210536639[0m ×2 + 31.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150322356001 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150322356001[0m ×2 + 31.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004784387582771 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004784387582771[0m ×2 + 31.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005648433066922 + 31.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005648433066922[0m ×2 + 31.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760839291813 + 31.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760839291813[0m ×2 + 31.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004250784036719 + 31.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004250784036719[0m ×2 + 31.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005180548272326 + 31.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005180548272326[0m ×2 + 31.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004503877614237 + 31.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004503877614237[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005616841255065 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005616841255065[0m ×2 + 31.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669835691647 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004669835691647[0m ×2 + 31.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160144533354 + 31.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160144533354[0m ×2 + 31.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429779381760 + 31.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429779381760[0m ×2 + 31.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989372543342 + 31.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989372543342[0m ×2 + 31.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005253801197088 + 31.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005253801197088[0m ×2 + 31.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423258988131 + 31.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423258988131[0m ×2 + 31.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311618708158 + 31.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311618708158[0m ×2 + 31.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510303547458 + 31.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510303547458[0m ×2 + 31.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992904210908 + 31.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992904210908[0m ×2 + 31.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308786023248 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308786023248[0m ×2 + 31.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376915107063 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376915107063[0m ×2 + 31.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509325190870 + 31.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005509325190870[0m ×2 + 31.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004543169285612 + 31.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004543169285612[0m ×2 + 31.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005452481264982 + 31.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005452481264982[0m ×2 + 31.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005491028226763 + 31.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005491028226763[0m ×2 + 31.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796579128426 + 31.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796579128426[0m ×2 + 31.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004774358210707 + 31.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004774358210707[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005632601246822 + 31.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005632601246822[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006176150706861 + 31.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006176150706861[0m ×2 + 31.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004975515673118 + 31.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004975515673118[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814177239761 + 31.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814177239761[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004748211163761 + 31.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004748211163761[0m ×2 + 31.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472741861129 + 31.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472741861129[0m ×2 + 31.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705753204423 + 31.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705753204423[0m ×2 + 31.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590278597519 + 31.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590278597519[0m ×2 + 31.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321819229343 + 31.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321819229343[0m ×2 + 31.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331340968572 + 31.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331340968572[0m ×2 + 31.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005147636259926 + 31.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005147636259926[0m ×2 + 31.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273079205496 + 31.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273079205496[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091976002360 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091976002360[0m ×2 + 31.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239039935970 + 31.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239039935970[0m ×2 + 31.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572505716451 + 31.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572505716451[0m ×2 + 31.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004374284292474 + 31.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004374284292474[0m ×2 + 31.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328570192661 + 31.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328570192661[0m ×2 + 31.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710675825250 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710675825250[0m ×2 + 31.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301780245189 + 31.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301780245189[0m ×2 + 31.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006084456205923 + 31.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006084456205923[0m ×2 + 31.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003725196063722 + 31.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003725196063722[0m ×2 + 31.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443186836648 + 31.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443186836648[0m ×2 + 31.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005879958796521 + 31.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005879958796521[0m ×2 + 31.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006028555101258 + 31.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006028555101258[0m ×2 + 31.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005960175457859 + 31.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005960175457859[0m ×2 + 31.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006177027031485 + 31.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006177027031485[0m ×2 + 31.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004815425497792 + 31.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004815425497792[0m ×2 + 31.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221382602004 + 31.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221382602004[0m ×2 + 31.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607634797769 + 31.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607634797769[0m ×2 + 31.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005598897793663 + 31.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005598897793663[0m ×2 + 31.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389731823384 + 31.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004389731823384[0m ×2 + 31.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919769844975 + 31.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919769844975[0m ×2 + 31.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109566690111 + 31.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109566690111[0m ×2 + 31.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492912613271 + 31.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492912613271[0m ×2 + 31.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004332835454185 + 31.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004332835454185[0m ×2 + 31.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868810082860 + 31.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868810082860[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546376444809 + 31.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005546376444809[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504972315031 + 31.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504972315031[0m ×2 + 31.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005536851829987 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005536851829987[0m ×2 + 31.88sWARNcontroller_managerOverrun might occur, Total time : 2906.933 us (Expected < 1666.667 us) --> Read time : 122.983 us, Update time : 2367.918 us, Write time : 416.032 us + 31.88sWARNros2_control_nodeOverrun might occur, Total time : 2906.933 us (Expected < 1666.667 us) --> Read time : 122.983 us, Update time : 2367.918 us, Write time : 416.032 us[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316337620369 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316337620369[0m ×2 + 31.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264877992775 + 31.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264877992775[0m ×2 + 31.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357949872475 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357949872475[0m ×2 + 31.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831227237684 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831227237684[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111401953103 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111401953103[0m ×2 + 31.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006369644108455 + 31.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006369644108455[0m ×2 + 31.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006103227627712 + 31.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006103227627712[0m ×2 + 31.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006466483716012 + 31.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006466483716012[0m ×2 + 31.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006046786533167 + 31.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006046786533167[0m ×2 + 31.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005727003159059 + 31.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005727003159059[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005921189045349 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005921189045349[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005610416357451 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005610416357451[0m ×2 + 31.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005714421764218 + 31.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005714421764218[0m ×2 + 31.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006242560727237 + 31.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006242560727237[0m ×2 + 31.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006318921297099 + 31.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006318921297099[0m ×2 + 32.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005272793667573 + 32.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005272793667573[0m ×2 + 32.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005452600221465 + 32.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005452600221465[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005773786637340 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005773786637340[0m ×2 + 32.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005336545901178 + 32.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005336545901178[0m ×2 + 32.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006114495761988 + 32.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006114495761988[0m ×2 + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212193 ms (missed cycles : 4). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212193 ms (missed cycles : 4).[0m ×2 + 32.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004884666882386 + 32.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004884666882386[0m ×2 + 32.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005258810592197 + 32.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005258810592197[0m ×2 + 32.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858911606078 + 32.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004858911606078[0m ×2 + 32.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492281981040 + 32.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492281981040[0m ×2 + 32.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005282103637012 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005282103637012[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987305852958 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987305852958[0m ×2 + 32.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005587128947382 + 32.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005587128947382[0m ×2 + 32.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005244541408413 + 32.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005244541408413[0m ×2 + 32.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944839699241 + 32.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944839699241[0m ×2 + 32.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529945675296 + 32.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529945675296[0m ×2 + 32.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005161240321285 + 32.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005161240321285[0m ×2 + 32.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470586286166 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470586286166[0m ×2 + 32.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005069025970375 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005069025970375[0m ×2 + 32.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004801441963542 + 32.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004801441963542[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366935730253 + 32.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366935730253[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005005444725521 + 32.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005005444725521[0m ×2 + 32.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005561296183301 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005561296183301[0m ×2 + 32.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005097068665216 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005097068665216[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005395479773900 + 32.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005395479773900[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959883111797 + 32.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959883111797[0m ×2 + 32.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004664180411828 + 32.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004664180411828[0m ×2 + 32.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482580103940 + 32.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482580103940[0m ×2 + 32.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225284994150 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225284994150[0m ×2 + 32.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328994073782 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328994073782[0m ×2 + 32.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005769932249780 + 32.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005769932249780[0m ×2 + 32.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015152734257 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015152734257[0m ×2 + 32.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718229949202 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718229949202[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006730514062808 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006730514062808[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859724923819 + 32.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859724923819[0m ×2 + 32.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004907483227643 + 32.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004907483227643[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711795194001 + 32.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711795194001[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984379446860 + 32.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984379446860[0m ×2 + 32.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005891323555916 + 32.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005891323555916[0m ×2 + 32.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108130753730 + 32.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108130753730[0m ×2 + 32.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519781234380 + 32.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519781234380[0m ×2 + 32.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005412788749352 + 32.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005412788749352[0m ×2 + 32.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780549481043 + 32.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780549481043[0m ×2 + 32.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005644602325686 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005644602325686[0m ×2 + 32.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004902623449773 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004902623449773[0m ×2 + 32.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365516041462 + 32.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365516041462[0m ×2 + 32.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675607454273 + 32.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675607454273[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507699682486 + 32.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507699682486[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519174039947 + 32.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519174039947[0m ×2 + 32.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376902389649 + 32.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376902389649[0m ×2 + 32.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007033374532315 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007033374532315[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665438069897 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004665438069897[0m ×2 + 32.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005747547019653 + 32.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005747547019653[0m ×2 + 32.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989347977716 + 32.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989347977716[0m ×2 + 32.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750002212097 + 32.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750002212097[0m ×2 + 32.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825175152726 + 32.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825175152726[0m ×2 + 32.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005563247802505 + 32.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005563247802505[0m ×2 + 32.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005947223977636 + 32.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005947223977636[0m ×2 + 32.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835860308333 + 32.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835860308333[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005626903722172 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005626903722172[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966797151514 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966797151514[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244766094908 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244766094908[0m ×2 + 32.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005597828604835 + 32.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005597828604835[0m ×2 + 32.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006537313357232 + 32.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006537313357232[0m ×2 + 32.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006568641664414 + 32.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006568641664414[0m ×2 + 32.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514607059456 + 32.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514607059456[0m ×2 + 32.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887723807045 + 32.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005887723807045[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006041107595081 + 32.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006041107595081[0m ×2 + 32.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005216887709604 + 32.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005216887709604[0m ×2 + 32.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005266493243798 + 32.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005266493243798[0m ×2 + 32.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005934346953214 + 32.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005934346953214[0m ×2 + 32.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595878841006 + 32.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595878841006[0m ×2 + 32.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006128102223426 + 32.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006128102223426[0m ×2 + 32.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005059756549806 + 32.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005059756549806[0m ×2 + 32.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005152649490037 + 32.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005152649490037[0m ×2 + 32.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006902164664567 + 32.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006902164664567[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737362341942 + 32.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737362341942[0m ×2 + 32.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967319859354 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967319859354[0m ×2 + 32.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011193025789246 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011193025789246[0m ×2 + 32.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006767736749289 + 32.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006767736749289[0m ×2 + 32.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006780084365189 + 32.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006780084365189[0m ×2 + 32.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894392586474 + 32.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894392586474[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950647400634 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950647400634[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003163539159087 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003163539159087[0m ×2 + 32.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005723393744167 + 32.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005723393744167[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448809897092 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448809897092[0m ×2 + 32.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006572478412700 + 32.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006572478412700[0m ×2 + 32.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947597282230 + 32.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947597282230[0m ×2 + 32.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695674827521 + 32.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695674827521[0m ×2 + 32.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005258229808578 + 32.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005258229808578[0m ×2 + 32.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004225649714379 + 32.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004225649714379[0m ×2 + 32.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134214504072 + 32.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134214504072[0m ×2 + 32.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005518520562339 + 32.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005518520562339[0m ×2 + 32.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165417591553 + 32.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165417591553[0m ×2 + 32.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005945839211729 + 32.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005945839211729[0m ×2 + 32.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004942577709369 + 32.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004942577709369[0m ×2 + 32.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318581130828 + 32.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318581130828[0m ×2 + 32.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007252299759026 + 32.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007252299759026[0m ×2 + 32.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004552888765437 + 32.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004552888765437[0m ×2 + 32.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255112498978 + 32.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255112498978[0m ×2 + 32.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291120008677 + 32.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291120008677[0m ×2 + 32.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005734503157831 + 32.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005734503157831[0m ×2 + 32.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752139999252 + 32.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752139999252[0m ×2 + 32.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976283766131 + 32.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976283766131[0m ×2 + 32.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008806406533367 + 32.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008806406533367[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008836772595165 + 32.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008836772595165[0m ×2 + 32.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947201063926 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947201063926[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003804482328125 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003804482328125[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054345278835 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054345278835[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533221914556 + 32.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533221914556[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004579357795622 + 32.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004579357795622[0m ×2 + 32.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576481858507 + 32.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576481858507[0m ×2 + 32.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005412961370006 + 32.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005412961370006[0m ×2 + 32.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006873380890951 + 32.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006873380890951[0m ×2 + 32.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244993718624 + 32.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244993718624[0m ×2 + 32.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003436436218498 + 32.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003436436218498[0m ×2 + 32.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010750489207267 + 32.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010750489207267[0m ×2 + 32.90sWARNcontroller_managerOverrun might occur, Total time : 5688.423 us (Expected < 1666.667 us) --> Read time : 5130.397 us, Update time : 89.612 us, Write time : 468.414 us + 32.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010820246366705 + 32.91sWARNros2_control_nodeOverrun might occur, Total time : 5688.423 us (Expected < 1666.667 us) --> Read time : 5130.397 us, Update time : 89.612 us, Write time : 468.414 us[0m ×2 + 32.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010820246366705[0m ×2 + 32.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006608629683160 + 32.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006608629683160[0m ×2 + 32.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001969736989902 + 32.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001969736989902[0m ×2 + 32.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022029296855 + 32.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022029296855[0m ×2 + 32.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963765145031 + 32.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963765145031[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006632711328028 + 32.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006632711328028[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004068868861209 + 32.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004068868861209[0m ×2 + 32.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008547490162401 + 32.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008547490162401[0m ×2 + 32.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008581074160628 + 32.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008581074160628[0m ×2 + 32.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005185083437254 + 32.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005185083437254[0m ×2 + 32.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003022928611976 + 32.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003022928611976[0m ×2 + 32.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009198375889893 + 32.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009198375889893[0m ×2 + 33.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005466074426869 + 33.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005466074426869[0m ×2 + 33.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005569168561996 + 33.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005569168561996[0m ×2 + 33.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182413794734 + 33.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182413794734[0m ×2 + 33.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004613745787513 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004613745787513[0m ×2 + 33.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004721614469520 + 33.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004721614469520[0m ×2 + 33.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953106406901 + 33.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004953106406901[0m ×2 + 33.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112055069190 + 33.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112055069190[0m ×2 + 33.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004955332867408 + 33.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004955332867408[0m ×2 + 33.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069559702180 + 33.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004069559702180[0m ×2 + 33.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005428767214930 + 33.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005428767214930[0m ×2 + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759698 ms (missed cycles : 4). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759698 ms (missed cycles : 4).[0m ×2 + 33.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452277460567 + 33.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452277460567[0m ×2 + 33.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008228132711031 + 33.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008228132711031[0m ×2 + 33.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004998436482190 + 33.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004998436482190[0m ×2 + 33.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084526008987 + 33.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084526008987[0m ×2 + 33.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129255787068 + 33.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129255787068[0m ×2 + 33.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004630818950701 + 33.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004630818950701[0m ×2 + 33.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007695926304451 + 33.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007695926304451[0m ×2 + 33.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604777967813 + 33.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604777967813[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694631155386 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694631155386[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006260348615707 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006260348615707[0m ×2 + 33.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742901196204 + 33.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742901196204[0m ×2 + 33.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004183297824546 + 33.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004183297824546[0m ×2 + 33.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011000421532860 + 33.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011000421532860[0m ×2 + 33.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006490362918466 + 33.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006490362918466[0m ×2 + 33.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595121537221 + 33.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595121537221[0m ×2 + 33.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653738852293 + 33.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653738852293[0m ×2 + 33.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001948943925587 + 33.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001948943925587[0m ×2 + 33.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008759899518644 + 33.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008759899518644[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008822105726253 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008822105726253[0m ×2 + 33.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225142522529 + 33.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225142522529[0m ×2 + 33.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001423795412952 + 33.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001423795412952[0m ×2 + 33.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000731700551992 + 33.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000731700551992[0m ×2 + 33.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009672618482373 + 33.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009672618482373[0m ×2 + 33.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776452600531 + 33.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776452600531[0m ×2 + 33.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005858818170007 + 33.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005858818170007[0m ×2 + 33.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361618035051 + 33.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361618035051[0m ×2 + 33.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001827084354882 + 33.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001827084354882[0m ×2 + 33.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997591796096 + 33.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997591796096[0m ×2 + 33.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568696883250 + 33.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568696883250[0m ×2 + 33.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737594025688 + 33.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737594025688[0m ×2 + 33.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550738273444 + 33.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550738273444[0m ×2 + 33.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004721883344005 + 33.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004721883344005[0m ×2 + 33.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221588934734 + 33.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221588934734[0m ×2 + 33.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196020833754 + 33.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196020833754[0m ×2 + 33.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456336487781 + 33.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456336487781[0m ×2 + 33.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786813596530 + 33.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786813596530[0m ×2 + 33.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284026299889 + 33.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284026299889[0m ×2 + 33.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006909346009123 + 33.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006909346009123[0m ×2 + 33.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007032680076253 + 33.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007032680076253[0m ×2 + 33.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240955580168 + 33.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240955580168[0m ×2 + 33.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002449783400561 + 33.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002449783400561[0m ×2 + 33.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817733781326 + 33.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817733781326[0m ×2 + 33.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005392827313126 + 33.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005392827313126[0m ×2 + 33.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000702343084274 + 33.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000702343084274[0m ×2 + 33.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000843909730181 + 33.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000843909730181[0m ×2 + 33.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000442345585751 + 33.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000442345585751[0m ×2 + 33.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586165046010 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586165046010[0m ×2 + 33.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000631463571034 + 33.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000631463571034[0m ×2 + 33.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594684217844 + 33.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003594684217844[0m ×2 + 33.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002300304111750 + 33.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002300304111750[0m ×2 + 33.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451208327967 + 33.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451208327967[0m ×2 + 33.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001594040880048 + 33.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001594040880048[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002076398264786 + 33.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002076398264786[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888120822620 + 33.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888120822620[0m ×2 + 33.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437846267828 + 33.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437846267828[0m ×2 + 33.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002594923680143 + 33.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002594923680143[0m ×2 + 33.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001642146783289 + 33.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001642146783289[0m ×2 + 33.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945585271580 + 33.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945585271580[0m ×2 + 33.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002441163519556 + 33.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002441163519556[0m ×2 + 33.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602132574746 + 33.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002602132574746[0m ×2 + 33.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002213775908687 + 33.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002213775908687[0m ×2 + 33.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002189843056017 + 33.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002189843056017[0m ×2 + 34.04sWARNcontroller_managerOverrun might occur, Total time : 2441.000 us (Expected < 1666.667 us) --> Read time : 109.463 us, Update time : 706.420 us, Write time : 1625.117 us + 34.04sWARNros2_control_nodeOverrun might occur, Total time : 2441.000 us (Expected < 1666.667 us) --> Read time : 109.463 us, Update time : 706.420 us, Write time : 1625.117 us[0m ×2 + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000574 ms (missed cycles : 3). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000574 ms (missed cycles : 3).[0m ×2 + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482681 ms (missed cycles : 3). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482681 ms (missed cycles : 3).[0m ×2 + 35.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015680063356367 + 35.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015680063356367[0m ×2 + 35.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044472204186528 ×2 + 35.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044472204186528[0m ×4 + 35.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043078411383774 ×2 + 35.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043078411383774[0m ×4 + 35.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016425502441444 + 35.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016425502441444[0m ×2 + 35.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044620211648364 ×2 + 35.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044620211648364[0m ×4 + 35.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015736376361837 + 35.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015736376361837[0m ×2 + 35.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043456790402422 ×2 + 35.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043456790402422[0m ×4 + 35.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016047672459492 ×2 + 35.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016047672459492[0m ×4 + 35.37sWARNcontroller_managerOverrun might occur, Total time : 3840.839 us (Expected < 1666.667 us) --> Read time : 111.613 us, Update time : 3159.780 us, Write time : 569.446 us + 35.37sWARNros2_control_nodeOverrun might occur, Total time : 3840.839 us (Expected < 1666.667 us) --> Read time : 111.613 us, Update time : 3159.780 us, Write time : 569.446 us[0m ×2 + 35.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043734383545152 ×2 + 35.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043734383545152[0m ×4 + 35.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015861552121157 + 35.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015861552121157[0m ×2 + 35.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044147026585724 ×2 + 35.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044147026585724[0m ×4 + 35.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016141703769339 ×2 + 35.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016141703769339[0m ×4 + 35.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043823140342843 ×2 + 35.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043823140342843[0m ×4 + 35.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015830940083756 + 35.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015830940083756[0m ×2 + 35.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044142210307640 ×2 + 35.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044142210307640[0m ×4 + 35.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016156478537096 + 35.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016156478537096[0m ×2 + 35.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043849030643192 + 35.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043849030643192[0m ×2 + 35.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015846275894197 + 35.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015846275894197[0m ×2 + 35.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044157679507226 ×2 + 35.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044157679507226[0m ×4 + 35.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016141539854027 ×2 + 35.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016141539854027[0m ×4 + 35.53sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.29% of iterations over budget over 3:10.003 of wall time (169/58667). Below 1% is expected on a non-realtime system.[0m ×2 + 35.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044178233667516 ×2 + 35.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044178233667516[0m ×4 + 35.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043898831207466 ×2 + 35.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043898831207466[0m ×4 + 35.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015860099782208 ×2 + 35.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015860099782208[0m ×4 + 35.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044196444331044 + 35.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044196444331044[0m ×2 + 35.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016152567503229 ×2 + 35.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016152567503229[0m ×4 + 35.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043924087704452 ×2 + 35.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043924087704452[0m ×4 + 35.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015878330576809 + 35.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015878330576809[0m ×2 + 35.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044212448551122 ×2 + 35.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044212448551122[0m ×4 + 35.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016138134716961 ×2 + 35.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016138134716961[0m ×4 + 35.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043953564430660 + 35.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043953564430660[0m ×2 + 35.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015879359598826 ×2 + 35.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015879359598826[0m ×4 + 35.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044226505254731 ×2 + 35.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044226505254731[0m ×4 + 35.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016146888257424 + 35.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016146888257424[0m ×2 + 35.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043979246015920 + 35.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043979246015920[0m ×2 + 35.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016152048541756 ×2 + 35.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016152048541756[0m ×4 + 35.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044003790625161 + 35.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044003790625161[0m ×2 + 35.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044259013236432 + 35.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044259013236432[0m ×2 + 35.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016136621699137 + 35.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016136621699137[0m ×2 + 35.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044033975724791 + 35.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044033975724791[0m ×2 + 35.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015907664198642 ×2 + 35.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015907664198642[0m ×4 + 35.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044270259616784 + 35.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044270259616784[0m ×2 + 35.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016142583128151 ×2 + 35.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016142583128151[0m ×4 + 35.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044057557961963 ×2 + 35.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044057557961963[0m ×4 + 35.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015918144049699 + 35.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015918144049699[0m ×2 + 35.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044288338884669 ×2 + 35.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044288338884669[0m ×4 + 35.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016146610018433 ×2 + 35.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016146610018433[0m ×4 + 35.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044079402722165 + 35.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044079402722165[0m ×2 + 35.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016131207342935 + 35.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016131207342935[0m ×2 + 35.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044111461518976 ×2 + 35.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044111461518976[0m ×4 + 35.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015938274202088 + 35.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015938274202088[0m ×2 + 35.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044312652522362 ×2 + 35.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044312652522362[0m ×4 + 35.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016138951665074 ×2 + 35.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016138951665074[0m ×4 + 35.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044134059745589 ×2 + 35.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044134059745589[0m ×4 + 35.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015951314674180 + 35.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015951314674180[0m ×2 + 35.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044329265050485 ×2 + 35.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044329265050485[0m ×4 + 35.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.037245619016620 ×2 + 35.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.037245619016620[0m ×4 + 35.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.137011703727602 + 35.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.137011703727602[0m ×2 + 35.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.395107267434554 ×2 + 35.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.395107267434554[0m ×4 + 35.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.875837629042131 ×2 + 35.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.875837629042131[0m ×4 + 35.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.703469844426753 + 35.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.703469844426753[0m ×2 + 36.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.283691923611983 ×2 + 36.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.283691923611983[0m ×4 + 36.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.656290483917633 ×2 + 36.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.656290483917633[0m ×4 + 36.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.754395048784556 + 36.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.754395048784556[0m ×2 + 36.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.612765828780744 + 36.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.612765828780744[0m ×2 + 36.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.315052658631472 + 36.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.315052658631472[0m ×2 + 36.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.867609671670893 + 36.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.867609671670893[0m ×2 + 36.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.192596204601186 + 36.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.192596204601186[0m ×2 + 36.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.215740054577665 + 36.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.215740054577665[0m ×2 + 36.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.262296375056453 + 36.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.262296375056453[0m ×2 + 36.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.194507199939389 + 36.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.194507199939389[0m ×2 + 36.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.292146494452528 + 36.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.292146494452528[0m ×2 + 36.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.220659356453774 + 36.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.220659356453774[0m ×2 + 36.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.220669455385703 + 36.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.220669455385703[0m ×2 + 36.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.886040741217153 + 36.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.886040741217153[0m ×2 + 36.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.693837692172156 ×2 + 36.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.693837692172156[0m ×4 + 36.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.477357197984489 + 36.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.477357197984489[0m ×2 + 36.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.253067382568656 ×2 + 36.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.253067382568656[0m ×4 + 36.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.829689071302525 ×2 + 36.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.829689071302525[0m ×4 + 36.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.249988177736945 ×2 + 36.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.249988177736945[0m ×4 + 36.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.272177 ms (missed cycles : 5). + 36.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.272177 ms (missed cycles : 5).[0m ×2 + 36.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.493790194550822 + 36.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.493790194550822[0m ×2 + 36.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.607764530486808 + 36.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.607764530486808[0m ×2 + 36.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.487068563251583 + 36.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.487068563251583[0m ×2 + 36.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.518564518073017 ×2 + 36.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.518564518073017[0m ×4 + 36.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.305929775404731 + 36.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.305929775404731[0m ×2 + 36.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.162356765926656 + 36.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.162356765926656[0m ×2 + 36.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.244787235044114 ×2 + 36.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.244787235044114[0m ×4 + 36.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.216970973061745 + 36.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.216970973061745[0m ×2 + 36.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.407112052227104 + 36.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.407112052227104[0m ×2 + 36.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.166280880086537 ×2 + 36.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.166280880086537[0m ×4 + 36.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.530880234738861 + 36.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.530880234738861[0m ×2 + 36.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.313179741804404 + 36.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.313179741804404[0m ×2 + 36.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.267435642250233 + 36.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.267435642250233[0m ×2 + 36.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.641428368951627 + 36.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.641428368951627[0m ×2 + 36.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.501297685149359 ×2 + 36.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.501297685149359[0m ×4 + 36.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.185584884804494 + 36.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.185584884804494[0m ×2 + 36.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.341123807782568 ×2 + 36.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.341123807782568[0m ×4 + 36.40sWARNcontroller_managerOverrun might occur, Total time : 2441.980 us (Expected < 1666.667 us) --> Read time : 135.794 us, Update time : 1971.887 us, Write time : 334.299 us + 36.40sWARNros2_control_nodeOverrun might occur, Total time : 2441.980 us (Expected < 1666.667 us) --> Read time : 135.794 us, Update time : 1971.887 us, Write time : 334.299 us[0m ×2 + 36.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.166549059879067 + 36.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.166549059879067[0m ×2 + 36.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.254396562255312 ×2 + 36.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.254396562255312[0m ×4 + 36.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.423052214905459 + 36.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.423052214905459[0m ×2 + 36.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.423052214905445 + 36.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.423052214905445[0m ×2 + 36.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.209904869375979 + 36.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.209904869375979[0m ×2 + 36.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.143077597167387 ×2 + 36.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.143077597167387[0m ×4 + 36.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.128708369253722 ×2 + 36.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.128708369253722[0m ×4 + 36.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.956093064946653 ×2 + 36.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.956093064946653[0m ×4 + 36.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.840202203960324 ×2 + 36.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.840202203960324[0m ×4 + 36.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.742037110782867 + 36.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.742037110782867[0m ×2 + 36.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.498661979877369 ×2 + 36.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.498661979877369[0m ×4 + 36.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.657267996167988 ×2 + 36.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.657267996167988[0m ×4 + 36.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.675252901894364 ×2 + 36.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.675252901894364[0m ×4 + 36.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.186363600873388 + 36.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.186363600873388[0m ×2 + 36.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.569450391030390 + 36.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.569450391030390[0m ×2 + 36.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.437941888056507 ×2 + 36.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.437941888056507[0m ×4 + 36.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.471889264184064 ×2 + 36.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.471889264184064[0m ×4 + 36.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.815926010547766 + 36.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.815926010547766[0m ×2 + 36.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.147797372198259 ×2 + 36.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.147797372198259[0m ×4 + 36.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.501539934582400 ×2 + 36.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.501539934582400[0m ×4 + 36.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.733578289772833 + 36.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.733578289772833[0m ×2 + 36.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.328592189886816 + 36.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.328592189886816[0m ×2 + 36.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.328592189886814 + 36.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.328592189886814[0m ×2 + 36.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.818558515145659 ×2 + 36.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.818558515145659[0m ×4 + 36.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.689665709272349 ×2 + 36.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.689665709272349[0m ×4 + 36.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.475127886102173 ×2 + 36.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.475127886102173[0m ×4 + 36.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.363018649230614 ×2 + 36.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.363018649230614[0m ×4 + 36.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.383954190833596 ×2 + 36.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.383954190833596[0m ×4 + 36.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.909306264030667 ×2 + 36.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.909306264030667[0m ×4 + 36.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.071376903998233 + 36.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.071376903998233[0m ×2 + 36.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.071376903998268 + 36.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.071376903998268[0m ×2 + 36.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.441052431142331 + 36.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.441052431142331[0m ×2 + 36.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.441052431142327 + 36.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.441052431142327[0m ×2 + 36.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.807429895222457 + 36.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.807429895222457[0m ×2 + 36.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.807429895222452 + 36.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.807429895222452[0m ×2 + 36.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.324136463550236 + 36.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.324136463550236[0m ×2 + 36.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.859179217374914 + 36.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.859179217374914[0m ×2 + 36.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.859179217374916 + 36.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.859179217374916[0m ×2 + 36.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.468202953585260 ×2 + 36.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.468202953585260[0m ×4 + 36.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.075707796972655 ×2 + 36.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.075707796972655[0m ×4 + 36.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.702219946782604 ×2 + 36.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.702219946782604[0m ×4 + 36.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.292361872291867 ×2 + 36.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.292361872291867[0m ×4 + 36.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.823678000803437 ×2 + 36.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.823678000803437[0m ×4 + 36.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.246799547477480 + 36.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.246799547477480[0m ×2 + 36.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.246799547477476 + 36.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.246799547477476[0m ×2 + 36.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.280119361708834 + 36.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.280119361708834[0m ×2 + 36.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.724470920139265 + 36.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.724470920139265[0m ×2 + 36.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.110693597676050 + 36.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.110693597676050[0m ×2 + 36.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.562540978455843 + 36.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.562540978455843[0m ×2 + 36.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.643350896494084 + 36.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.643350896494084[0m ×2 + 36.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.202235068232994 ×2 + 36.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.202235068232994[0m ×4 + 36.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.196741920812222 + 36.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.196741920812222[0m ×2 + 36.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.101839743024300 ×2 + 36.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.101839743024300[0m ×4 + 36.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.239685285913154 ×2 + 36.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.239685285913154[0m ×4 + 36.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.314347900874562 + 36.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.314347900874562[0m ×2 + 36.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.295716820619504 ×2 + 36.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.295716820619504[0m ×4 + 36.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.291791306935124 ×2 + 36.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.291791306935124[0m ×4 + 37.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.967115781590737 ×2 + 37.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.967115781590737[0m ×4 + 37.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.570725806310646 + 37.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.570725806310646[0m ×2 + 37.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.324436264194503 + 37.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.324436264194503[0m ×2 + 37.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.021466870216293 ×2 + 37.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.021466870216293[0m ×4 + 37.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.722075227535520 ×2 + 37.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.722075227535520[0m ×4 + 37.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.515530219098741 + 37.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.515530219098741[0m ×2 + 37.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.515530219098743 + 37.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.515530219098743[0m ×2 + 37.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.311070636071280 ×2 + 37.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.311070636071280[0m ×4 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.199008330659460 ×2 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.199008330659460[0m ×4 + 37.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047034923090602 + 37.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047034923090602[0m ×2 + 37.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047034923090600 + 37.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047034923090600[0m ×2 + 37.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016371151089055 + 37.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016371151089055[0m ×2 + 37.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.138258978564786 + 37.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.138258978564786[0m ×2 + 37.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.138258978564776 + 37.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.138258978564776[0m ×2 + 37.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000407112790186 ×2 + 37.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000407112790186[0m ×4 + 37.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.617413946596358 ×2 + 37.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.617413946596358[0m ×4 + 37.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.014235568161432 ×2 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.014235568161432[0m ×4 + 37.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.478531803909245 + 37.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.478531803909245[0m ×2 + 37.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.305711376333086 ×2 + 37.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.305711376333086[0m ×4 + 37.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.733576683561587 + 37.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.733576683561587[0m ×2 + 37.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.164494326393921 ×2 + 37.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.164494326393921[0m ×4 + 37.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122180 ms (missed cycles : 3). + 37.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122180 ms (missed cycles : 3).[0m ×2 + 37.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.595395127147828 + 37.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.595395127147828[0m ×2 + 37.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.025606202400631 + 37.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.025606202400631[0m ×2 + 37.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.455002366271309 + 37.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.455002366271309[0m ×2 + 37.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.879568333244499 ×2 + 37.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.879568333244499[0m ×4 + 37.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.315360639666551 + 37.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.315360639666551[0m ×2 + 37.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.315360639666554 + 37.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.315360639666554[0m ×2 + 37.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.744626747820085 + 37.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.744626747820085[0m ×2 + 37.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.172954127974137 + 37.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.172954127974137[0m ×2 + 37.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.605033982534614 + 37.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.605033982534614[0m ×2 + 37.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.749514002554101 + 37.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.749514002554101[0m ×2 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.009783836158142 + 37.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.009783836158142[0m ×2 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.302149316883135 ×2 + 37.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.302149316883135[0m ×4 + 37.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.840323308470452 + 37.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.840323308470452[0m ×2 + 37.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.840323308470456 + 37.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.840323308470456[0m ×2 + 37.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.436232822023328 + 37.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.436232822023328[0m ×2 + 37.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.587886749762191 ×2 + 37.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.587886749762191[0m ×4 + 37.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.276479773160046 ×2 + 37.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.276479773160046[0m ×4 + 37.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.771711545702404 ×2 + 37.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.771711545702404[0m ×4 + 37.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.058878868934480 + 37.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.058878868934480[0m ×2 + 37.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.799431666783480 + 37.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.799431666783480[0m ×2 + 37.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.970211033280059 + 37.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.970211033280059[0m ×2 + 37.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.739566772793715 ×2 + 37.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.739566772793715[0m ×4 + 37.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.450620780820246 ×2 + 37.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.450620780820246[0m ×4 + 37.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.733791843124324 + 37.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.733791843124324[0m ×2 + 37.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.588641770504204 ×2 + 37.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.588641770504204[0m ×4 + 37.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.587199249518360 + 37.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.587199249518360[0m ×2 + 37.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.663363063560226 + 37.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.663363063560226[0m ×2 + 37.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.663363063560208 + 37.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.663363063560208[0m ×2 + 37.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.900347433787910 + 37.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.900347433787910[0m ×2 + 37.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.557115461225433 ×2 + 37.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.557115461225433[0m ×4 + 37.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.634714874270749 ×2 + 37.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.634714874270749[0m ×4 + 37.53sWARNcontroller_managerOverrun might occur, Total time : 3763.396 us (Expected < 1666.667 us) --> Read time : 105.143 us, Update time : 3305.223 us, Write time : 353.030 us + 37.53sWARNros2_control_nodeOverrun might occur, Total time : 3763.396 us (Expected < 1666.667 us) --> Read time : 105.143 us, Update time : 3305.223 us, Write time : 353.030 us[0m ×2 + 37.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.158101608664104 + 37.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.158101608664104[0m ×2 + 37.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.298007246873979 + 37.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.298007246873979[0m ×2 + 37.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.222961225805378 + 37.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.222961225805378[0m ×2 + 37.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.302330656894100 ×2 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.302330656894100[0m ×4 + 37.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -37.571928180933369 ×2 + 37.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -37.571928180933369[0m ×4 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -39.592124766631777 + 37.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -39.592124766631777[0m ×2 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.464422894267003 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.464422894267003[0m ×2 + 37.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.464422894266939 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.464422894266939[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.645937427975884 + 37.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.645937427975884[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.748190964798855 ×2 + 37.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.748190964798855[0m ×4 + 37.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.137089842627834 ×2 + 37.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.137089842627834[0m ×4 + 37.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.715771240379482 ×2 + 37.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.715771240379482[0m ×4 + 37.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.722861816687644 + 37.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.722861816687644[0m ×2 + 37.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.118440452554719 + 37.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.118440452554719[0m ×2 + 37.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.783367121805314 ×2 + 37.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.783367121805314[0m ×4 + 37.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.245756297896300 + 37.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.245756297896300[0m ×2 + 37.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.245756297896403 + 37.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.245756297896403[0m ×2 + 37.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.132502896637681 + 37.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.132502896637681[0m ×2 + 37.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.931225439239761 ×2 + 37.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.931225439239761[0m ×4 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.391851761844022 ×2 + 37.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.391851761844022[0m ×4 + 37.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.134582218713291 ×2 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.134582218713291[0m ×4 + 37.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.897281203998999 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.897281203998999[0m ×2 + 37.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.919822342420712 + 37.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.919822342420712[0m ×2 + 37.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.263040952339530 ×2 + 37.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.263040952339530[0m ×4 + 37.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.775894913864864 ×2 + 37.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.775894913864864[0m ×4 + 37.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.995852747170549 ×2 + 37.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.995852747170549[0m ×4 + 37.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.455284913823235 ×2 + 37.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.455284913823235[0m ×4 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.906380782994766 + 37.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.906380782994766[0m ×2 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.321737008334757 ×2 + 37.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.321737008334757[0m ×4 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.203935974043631 + 37.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.203935974043631[0m ×2 + 37.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.376736193135198 + 37.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.376736193135198[0m ×2 + 37.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.393333332003031 ×2 + 37.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.393333332003031[0m ×4 + 37.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.387188456077251 ×2 + 37.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.387188456077251[0m ×4 + 37.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.507220165606338 + 37.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.507220165606338[0m ×2 + 37.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.507220165606334 + 37.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.507220165606334[0m ×2 + 37.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.314304642100875 + 37.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.314304642100875[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.949132430976320 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.949132430976320[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.952340905197808 ×2 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.952340905197808[0m ×4 + 37.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.819028020422401 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.819028020422401[0m ×2 + 37.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.409101152252092 + 37.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.409101152252092[0m ×2 + 37.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.879262241837640 ×2 + 37.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.879262241837640[0m ×4 + 37.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.091829388078185 ×2 + 37.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.091829388078185[0m ×4 + 37.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.843981023012940 ×2 + 37.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.843981023012940[0m ×4 + 37.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.774289333027014 ×2 + 37.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.774289333027014[0m ×4 + 37.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.720466189245691 ×2 + 37.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.720466189245691[0m ×4 + 37.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.595816718344349 + 37.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.595816718344349[0m ×2 + 37.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.985396322403914 ×2 + 37.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.985396322403914[0m ×4 + 38.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.969533726363750 + 38.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.969533726363750[0m ×2 + 38.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.970737770829282 + 38.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.970737770829282[0m ×2 + 38.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.301313267624535 ×2 + 38.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.301313267624535[0m ×4 + 38.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.527748548938224 ×2 + 38.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.527748548938224[0m ×4 + 38.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.965485241798465 ×2 + 38.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.965485241798465[0m ×4 + 38.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -55.839682802044280 + 38.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -55.839682802044280[0m ×2 + 38.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -218.362197480534860 + 38.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -218.362197480534860[0m ×2 + 38.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -160.740887970156734 + 38.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -160.740887970156734[0m ×2 + 38.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -98.233757613497914 + 38.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -98.233757613497914[0m ×2 + 38.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.225642277668458 + 38.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.225642277668458[0m ×2 + 38.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.591071553954942 + 38.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.591071553954942[0m ×2 + 38.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.627184827642434 + 38.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.627184827642434[0m ×2 + 38.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.302878340163343 + 38.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.302878340163343[0m ×2 + 38.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.934087709346114 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.934087709346114[0m ×2 + 38.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.535429546346561 + 38.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.535429546346561[0m ×2 + 38.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.124773976208551 + 38.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.124773976208551[0m ×2 + 38.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647238 ms (missed cycles : 2). + 38.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647238 ms (missed cycles : 2).[0m ×2 + 38.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.569865358035897 + 38.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.569865358035897[0m ×2 + 38.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.997123146882898 + 38.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.997123146882898[0m ×2 + 38.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.426151642233346 + 38.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.426151642233346[0m ×2 + 38.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.855522617804269 + 38.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.855522617804269[0m ×2 + 38.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.586156785674159 + 38.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.586156785674159[0m ×2 + 38.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.346666383234071 + 38.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.346666383234071[0m ×2 + 38.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.625777582167343 + 38.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.625777582167343[0m ×2 + 38.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.020565817906167 + 38.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.020565817906167[0m ×2 + 38.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.880349336247370 + 38.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.880349336247370[0m ×2 + 38.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.740760482080688 + 38.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.740760482080688[0m ×2 + 38.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.171137275890747 + 38.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.171137275890747[0m ×2 + 38.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.601622944592567 + 38.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.601622944592567[0m ×2 + 38.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.032239634675044 + 38.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.032239634675044[0m ×2 + 38.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.462952552002957 + 38.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.462952552002957[0m ×2 + 38.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.324711155971137 + 38.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.324711155971137[0m ×2 + 38.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.755877998868854 + 38.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.755877998868854[0m ×2 + 38.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.187367346105873 + 38.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.187367346105873[0m ×2 + 38.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.758069587119785 + 38.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.758069587119785[0m ×2 + 38.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.900886232235802 + 38.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.900886232235802[0m ×2 + 38.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.472120625471330 + 38.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.472120625471330[0m ×2 + 38.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.903095192169339 + 38.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.903095192169339[0m ×2 + 38.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.166689316174239 + 38.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.166689316174239[0m ×2 + 38.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.303947848687800 + 38.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.303947848687800[0m ×2 + 38.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.873972305248600 + 38.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.873972305248600[0m ×2 + 38.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.444021613729937 + 38.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.444021613729937[0m ×2 + 38.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.177949241157348 + 38.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.177949241157348[0m ×2 + 38.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.600793098035784 + 38.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.600793098035784[0m ×2 + 38.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.029560144720755 + 38.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.029560144720755[0m ×2 + 38.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.459198738769812 + 38.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.459198738769812[0m ×2 + 38.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.889064583698643 + 38.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.889064583698643[0m ×2 + 38.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.318936053475849 + 38.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.318936053475849[0m ×2 + 38.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.608490256521925 + 38.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.608490256521925[0m ×2 + 38.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.468092445228571 + 38.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.468092445228571[0m ×2 + 38.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.468088169136841 + 38.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.468088169136841[0m ×2 + 38.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.327685344084333 + 38.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.327685344084333[0m ×2 + 38.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.757404232811083 + 38.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.757404232811083[0m ×2 + 38.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.187156673288332 + 38.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.187156673288332[0m ×2 + 38.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.616866714459796 + 38.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.616866714459796[0m ×2 + 38.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.046594272401798 + 38.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.046594272401798[0m ×2 + 38.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.476328255286955 + 38.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.476328255286955[0m ×2 + 38.72sWARNcontroller_managerOverrun might occur, Total time : 2997.906 us (Expected < 1666.667 us) --> Read time : 86.823 us, Update time : 2617.245 us, Write time : 293.838 us + 38.72sWARNros2_control_nodeOverrun might occur, Total time : 2997.906 us (Expected < 1666.667 us) --> Read time : 86.823 us, Update time : 2617.245 us, Write time : 293.838 us[0m ×2 + 38.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.906153804204777 + 38.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.906153804204777[0m ×2 + 38.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.195206345325744 + 38.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.195206345325744[0m ×2 + 38.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.054375128360434 + 38.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.054375128360434[0m ×2 + 38.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.484151118620098 + 38.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.484151118620098[0m ×2 + 38.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.051869381593654 + 38.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.051869381593654[0m ×2 + 38.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.621712290755646 + 38.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.621712290755646[0m ×2 + 38.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.761817605053892 + 38.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.761817605053892[0m ×2 + 38.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.464080185106248 + 38.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.464080185106248[0m ×2 + 38.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.033952435269615 + 38.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.033952435269615[0m ×2 + 38.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.603753768199471 + 38.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.603753768199471[0m ×2 + 38.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.173311878612090 + 38.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.173311878612090[0m ×2 + 38.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.478106522279802 + 38.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.478106522279802[0m ×2 + 38.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.326020054319342 + 38.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.326020054319342[0m ×2 + 38.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.756221419033372 + 38.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.756221419033372[0m ×2 + 38.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.187256255822737 + 38.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.187256255822737[0m ×2 + 38.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.618310410601008 + 38.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.618310410601008[0m ×2 + 38.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.049586712041293 + 38.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.049586712041293[0m ×2 + 38.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.480934383089298 + 38.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.480934383089298[0m ×2 + 38.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.912360701640093 + 38.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.912360701640093[0m ×2 + 38.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.774860147044722 + 38.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.774860147044722[0m ×2 + 38.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.206419546470666 + 38.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.206419546470666[0m ×2 + 38.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.638197808696763 + 38.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.638197808696763[0m ×2 + 39.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.070470217087617 + 39.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.070470217087617[0m ×2 + 39.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.503139811700127 + 39.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.503139811700127[0m ×2 + 39.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.935946273352428 + 39.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.935946273352428[0m ×2 + 39.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.368514141501915 + 39.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.368514141501915[0m ×2 + 39.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.800922945095245 + 39.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.800922945095245[0m ×2 + 39.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.663831224985262 + 39.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.663831224985262[0m ×2 + 39.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.094253279108507 + 39.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.094253279108507[0m ×2 + 39.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.523770843169004 + 39.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.523770843169004[0m ×2 + 39.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.952461328244581 + 39.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.952461328244581[0m ×2 + 39.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.646377348887178 + 39.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.646377348887178[0m ×2 + 39.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.215071901333559 + 39.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.215071901333559[0m ×2 + 39.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.784225813691194 + 39.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.784225813691194[0m ×2 + 39.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.352818789516597 + 39.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.352818789516597[0m ×2 + 39.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.921730650756764 + 39.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.921730650756764[0m ×2 + 39.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.490689873034174 + 39.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.490689873034174[0m ×2 + 39.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049376856190307 + 39.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049376856190307[0m ×2 + 39.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.456714310191292 + 39.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.456714310191292[0m ×2 + 39.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.881734179615291 + 39.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.881734179615291[0m ×2 + 39.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.311415987650788 + 39.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.311415987650788[0m ×2 + 39.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.741520403897679 + 39.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.741520403897679[0m ×2 + 39.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.172203820350589 + 39.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.172203820350589[0m ×2 + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.900910 ms (missed cycles : 12). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.900910 ms (missed cycles : 12).[0m ×2 + 39.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.602849689740646 + 39.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.602849689740646[0m ×2 + 39.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.437069590778204 + 39.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.437069590778204[0m ×2 + 39.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.007946673113906 + 39.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.007946673113906[0m ×2 + 39.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.579323178082485 + 39.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.579323178082485[0m ×2 + 39.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.560431723915304 + 39.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.560431723915304[0m ×2 + 39.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.413683475391634 + 39.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.413683475391634[0m ×2 + 39.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.291612826389648 + 39.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.291612826389648[0m ×2 + 39.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.195525758825227 + 39.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.195525758825227[0m ×2 + 39.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.123989310229978 + 39.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.123989310229978[0m ×2 + 39.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.072971425224699 + 39.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.072971425224699[0m ×2 + 39.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.038376064649781 + 39.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.038376064649781[0m ×2 + 39.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016827980879844 + 39.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016827980879844[0m ×2 + 39.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003074693857455 + 39.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003074693857455[0m ×2 + 39.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456485990259 + 39.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456485990259[0m ×2 + 39.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007130194841729 + 39.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007130194841729[0m ×2 + 39.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765696508200 + 39.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765696508200[0m ×2 + 39.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440452326542 + 39.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440452326542[0m ×2 + 39.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003261981058606 + 39.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003261981058606[0m ×2 + 39.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278333860914 + 39.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278333860914[0m ×2 + 39.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001549434959859 + 39.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001549434959859[0m ×2 + 39.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000971337799893 + 39.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000971337799893[0m ×2 + 39.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000573993290821 + 39.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000573993290821[0m ×2 + 39.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153342832226 + 39.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153342832226[0m ×2 + 39.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043743059563 + 39.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043743059563[0m ×2 + 39.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002178013879 + 39.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002178013879[0m ×2 + 39.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032318165602 + 39.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032318165602[0m ×2 + 39.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034944203301 + 39.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034944203301[0m ×2 + 39.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030778972243 + 39.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030778972243[0m ×2 + 39.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010893738751 + 39.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010893738751[0m ×2 + 39.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010903674469 + 39.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010903674469[0m ×2 + 39.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006079935927 + 39.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006079935927[0m ×2 + 39.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001232983035 + 39.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001232983035[0m ×2 + 39.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001058881767 + 39.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001058881767[0m ×2 + 39.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007588201699 + 39.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007588201699[0m ×2 + 39.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015295481113 + 39.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015295481113[0m ×2 + 39.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014562353359 + 39.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014562353359[0m ×2 + 39.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080474885462 + 39.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080474885462[0m ×2 + 39.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051082874880 + 39.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051082874880[0m ×2 + 39.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069096063952 + 39.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069096063952[0m ×2 + 39.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056087385847 + 39.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056087385847[0m ×2 + 39.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061610983709 + 39.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061610983709[0m ×2 + 39.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064245627392 + 39.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064245627392[0m ×2 + 39.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037191618823 + 39.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037191618823[0m ×2 + 39.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061691277830 + 39.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061691277830[0m ×2 + 39.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056101688538 + 39.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056101688538[0m ×2 + 39.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041467551518 + 39.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041467551518[0m ×2 + 39.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036697771029 + 39.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036697771029[0m ×2 + 39.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034583416179 + 39.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034583416179[0m ×2 + 39.89sWARNcontroller_managerOverrun might occur, Total time : 2967.844 us (Expected < 1666.667 us) --> Read time : 2574.023 us, Update time : 73.752 us, Write time : 320.069 us + 39.89sWARNros2_control_nodeOverrun might occur, Total time : 2967.844 us (Expected < 1666.667 us) --> Read time : 2574.023 us, Update time : 73.752 us, Write time : 320.069 us[0m ×2 + 39.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037031144855 + 39.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037031144855[0m ×2 + 39.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024557615857 + 39.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024557615857[0m ×2 + 39.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019955288240 + 39.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019955288240[0m ×2 + 39.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018479188493 + 39.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018479188493[0m ×2 + 39.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023569741503 + 39.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023569741503[0m ×2 + 39.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021862993050 + 39.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021862993050[0m ×2 + 39.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015903037863 + 39.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015903037863[0m ×2 + 40.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019208092760 + 40.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019208092760[0m ×2 + 40.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016181591931 + 40.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016181591931[0m ×2 + 40.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016555192916 + 40.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016555192916[0m ×2 + 40.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015420129203 + 40.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015420129203[0m ×2 + 40.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017217649773 + 40.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017217649773[0m ×2 + 40.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014700230288 + 40.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014700230288[0m ×2 + 40.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018371125953 + 40.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018371125953[0m ×2 + 40.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017754523727 + 40.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017754523727[0m ×2 + 40.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014167802531 + 40.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014167802531[0m ×2 + 40.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014262691476 + 40.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014262691476[0m ×2 + 40.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016495958660 + 40.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016495958660[0m ×2 + 40.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016719376615 + 40.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016719376615[0m ×2 + 40.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010247384769 + 40.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010247384769[0m ×2 + 40.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010590795472 + 40.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010590795472[0m ×2 + 40.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011805054447 + 40.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011805054447[0m ×2 + 40.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011645127486 + 40.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011645127486[0m ×2 + 40.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012366139404 + 40.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012366139404[0m ×2 + 40.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008976757394 + 40.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008976757394[0m ×2 + 40.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017093104595 + 40.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017093104595[0m ×2 + 40.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011412637987 + 40.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011412637987[0m ×2 + 40.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795176 ms (missed cycles : 2). + 40.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795176 ms (missed cycles : 2).[0m ×2 + 40.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017733911746 + 40.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017733911746[0m ×2 + 40.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016946731954 + 40.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016946731954[0m ×2 + 40.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017121521600 + 40.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017121521600[0m ×2 + 40.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018284635572 + 40.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018284635572[0m ×2 + 40.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017049353629 + 40.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017049353629[0m ×2 + 40.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016642600658 + 40.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016642600658[0m ×2 + 40.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014485517283 + 40.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014485517283[0m ×2 + 40.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014484900818 + 40.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014484900818[0m ×2 + 40.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015286347810 + 40.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015286347810[0m ×2 + 40.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012856921883 + 40.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012856921883[0m ×2 + 40.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015693926355 + 40.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015693926355[0m ×2 + 40.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015825938098 + 40.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015825938098[0m ×2 + 40.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009517402178 + 40.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009517402178[0m ×2 + 40.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011553632084 + 40.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011553632084[0m ×2 + 40.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013063919435 + 40.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013063919435[0m ×2 + 40.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011876299325 + 40.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011876299325[0m ×2 + 40.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004451161411 + 40.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004451161411[0m ×2 + 40.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005936369646 + 40.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005936369646[0m ×2 + 40.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006146951440 + 40.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006146951440[0m ×2 + 40.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007531873034 + 40.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007531873034[0m ×2 + 40.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006386505645 + 40.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006386505645[0m ×2 + 40.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003928727668 + 40.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003928727668[0m ×2 + 40.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000188680285 + 40.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000188680285[0m ×2 + 40.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001622117448 + 40.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001622117448[0m ×2 + 40.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005122524025 + 40.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005122524025[0m ×2 + 40.64sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 40.64sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m ×2 + 40.92sWARNcontroller_managerOverrun might occur, Total time : 7190.805 us (Expected < 1666.667 us) --> Read time : 100.303 us, Update time : 6561.838 us, Write time : 528.664 us + 40.92sWARNros2_control_nodeOverrun might occur, Total time : 7190.805 us (Expected < 1666.667 us) --> Read time : 100.303 us, Update time : 6561.838 us, Write time : 528.664 us[0m ×2 + 41.13sERRORobjective_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 + 41.14sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 41.14sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 41.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781109900.83516979 seconds ×3 + 41.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046000 ms (missed cycles : 2). + 41.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046000 ms (missed cycles : 2).[0m ×2 + 41.72sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781109901.41233468 seconds. ×3 + 41.79sINFOobjective_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 + 41.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 41.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 41.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 41.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 41.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 41.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 41.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 41.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 41.87sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 41.87sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 41.87sINFOros2_control_node[2026-06-10 16:45:01.565] [info] Received new action goal ×2 + 41.87sINFOros2_control_node[2026-06-10 16:45:01.565] [info] Accepted new action goal ×2 + 42.22sWARNcontroller_managerOverrun might occur, Total time : 1722.720 us (Expected < 1666.667 us) --> Read time : 202.276 us, Update time : 1177.454 us, Write time : 342.990 us + 42.22sWARNros2_control_nodeOverrun might occur, Total time : 1722.720 us (Expected < 1666.667 us) --> Read time : 202.276 us, Update time : 1177.454 us, Write time : 342.990 us[0m ×2 + 42.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881080 ms (missed cycles : 4). + 42.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881080 ms (missed cycles : 4).[0m ×2 + 42.90sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781109902.59311247 seconds ×3 + 43.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737159 ms (missed cycles : 4). + 43.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737159 ms (missed cycles : 4).[0m ×2 + 43.47sWARNcontroller_managerOverrun might occur, Total time : 3734.367 us (Expected < 1666.667 us) --> Read time : 172.845 us, Update time : 3132.789 us, Write time : 428.733 us + 43.47sWARNros2_control_nodeOverrun might occur, Total time : 3734.367 us (Expected < 1666.667 us) --> Read time : 172.845 us, Update time : 3132.789 us, Write time : 428.733 us[0m ×2 + 43.49sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781109903.17893696 seconds. ×3 + 43.64sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 43.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 43.65sINFOros2_control_node[2026-06-10 16:45:03.343] [info] Received new action goal ×2 + 43.65sINFOros2_control_node[2026-06-10 16:45:03.343] [info] Accepted new action goal ×2 + 43.69sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/moveit_pro_ui/switch_primary_view" + 43.69sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 44.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358748 ms (missed cycles : 2). + 44.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358748 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 28.9s | 3 errors · 183 warnings · 227 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819368 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819368 ms (missed cycles : 3).[0m ×2 + 0.80sWARNcontroller_managerOverrun might occur, Total time : 3700.196 us (Expected < 1666.667 us) --> Read time : 144.815 us, Update time : 3178.621 us, Write time : 376.760 us + 0.80sWARNros2_control_nodeOverrun might occur, Total time : 3700.196 us (Expected < 1666.667 us) --> Read time : 144.815 us, Update time : 3178.621 us, Write time : 376.760 us[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025730 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025730 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020425 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020425 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_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 + 2.19sINFOobjective_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 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 5407.595 us (Expected < 1666.667 us) --> Read time : 166.335 us, Update time : 4839.388 us, Write time : 401.872 us + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 5407.595 us (Expected < 1666.667 us) --> Read time : 166.335 us, Update time : 4839.388 us, Write time : 401.872 us[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939451 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939451 ms (missed cycles : 3).[0m ×2 + 3.22sERRORobjective_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 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1781109914.58065438 seconds ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.54sWARNcontroller_managerOverrun might occur, Total time : 1801.921 us (Expected < 1666.667 us) --> Read time : 391.001 us, Update time : 68.952 us, Write time : 1341.968 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 1801.921 us (Expected < 1666.667 us) --> Read time : 391.001 us, Update time : 68.952 us, Write time : 1341.968 us[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1781109915.18941903 seconds. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 3.93sINFOfoxglove_bridgeRemoving channel 81 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.93sINFOfoxglove_bridgeRemoving channel 81 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.859166 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.859166 ms (missed cycles : 6).[0m ×2 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 3643.945 us (Expected < 1666.667 us) --> Read time : 113.254 us, Update time : 3181.991 us, Write time : 348.700 us + 4.63sWARNros2_control_nodeOverrun might occur, Total time : 3643.945 us (Expected < 1666.667 us) --> Read time : 113.254 us, Update time : 3181.991 us, Write time : 348.700 us[0m ×2 + 4.90sINFOobjective_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 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 7 iterations (0.00457323 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] ×2 + 5.05sINFOros2_control_node[2026-06-10 16:45:16.414] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-06-10 16:45:16.414] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792142 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792142 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544160 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544160 ms (missed cycles : 4).[0m ×2 + 6.97sWARNcontroller_managerOverrun might occur, Total time : 1991.527 us (Expected < 1666.667 us) --> Read time : 102.453 us, Update time : 1633.507 us, Write time : 255.567 us + 6.98sWARNros2_control_nodeOverrun might occur, Total time : 1991.527 us (Expected < 1666.667 us) --> Read time : 102.453 us, Update time : 1633.507 us, Write time : 255.567 us[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184339 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184339 ms (missed cycles : 3).[0m ×2 + 8.21sWARNcontroller_managerOverrun might occur, Total time : 12021.872 us (Expected < 1666.667 us) --> Read time : 85.932 us, Update time : 11542.699 us, Write time : 393.241 us + 8.21sWARNros2_control_nodeOverrun might occur, Total time : 12021.872 us (Expected < 1666.667 us) --> Read time : 85.932 us, Update time : 11542.699 us, Write time : 393.241 us[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574500 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574500 ms (missed cycles : 3).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251356 ms (missed cycles : 5). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251356 ms (missed cycles : 5).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078369 ms (missed cycles : 4). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078369 ms (missed cycles : 4).[0m ×2 + 10.44sWARNcontroller_managerOverrun might occur, Total time : 2757.339 us (Expected < 1666.667 us) --> Read time : 119.833 us, Update time : 2327.357 us, Write time : 310.149 us + 10.44sWARNros2_control_nodeOverrun might occur, Total time : 2757.339 us (Expected < 1666.667 us) --> Read time : 119.833 us, Update time : 2327.357 us, Write time : 310.149 us[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677739 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677739 ms (missed cycles : 2).[0m ×2 + 11.50sWARNcontroller_managerOverrun might occur, Total time : 5383.785 us (Expected < 1666.667 us) --> Read time : 126.894 us, Update time : 4819.808 us, Write time : 437.083 us + 11.50sWARNros2_control_nodeOverrun might occur, Total time : 5383.785 us (Expected < 1666.667 us) --> Read time : 126.894 us, Update time : 4819.808 us, Write time : 437.083 us[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380970 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380970 ms (missed cycles : 2).[0m ×2 + 12.51sWARNcontroller_managerOverrun might occur, Total time : 2056.689 us (Expected < 1666.667 us) --> Read time : 186.426 us, Update time : 1422.500 us, Write time : 447.763 us + 12.51sWARNros2_control_nodeOverrun might occur, Total time : 2056.689 us (Expected < 1666.667 us) --> Read time : 186.426 us, Update time : 1422.500 us, Write time : 447.763 us[0m ×2 + 12.66sINFOobjective_server_node[0;m[0;93m2026-06-10 16:45:24.022481166 [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 + 12.66sINFOobjective_server_node[0;93m2026-06-10 16:45:24.022530488 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.13sINFOobjective_server_node[0;93m2026-06-10 16:45:24.493840352 [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 + 13.13sINFOobjective_server_node[0;93m2026-06-10 16:45:24.493883293 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.23sINFOobjective_server_node[0;93m2026-06-10 16:45:24.595997447 [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 + 13.23sINFOobjective_server_node[0;93m2026-06-10 16:45:24.597913731 [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 + 13.23sINFOobjective_server_node[0;93m2026-06-10 16:45:24.597932882 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3).[0m ×2 + 13.51sINFOobjective_server_node[0;93m2026-06-10 16:45:24.875510821 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.53sINFOobjective_server_node[0;93m2026-06-10 16:45:24.888676016 [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 + 13.53sINFOobjective_server_node[0;93m2026-06-10 16:45:24.888709017 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.71sWARNcontroller_managerOverrun might occur, Total time : 2351.897 us (Expected < 1666.667 us) --> Read time : 145.624 us, Update time : 1883.164 us, Write time : 323.109 us + 13.71sWARNros2_control_nodeOverrun might occur, Total time : 2351.897 us (Expected < 1666.667 us) --> Read time : 145.624 us, Update time : 1883.164 us, Write time : 323.109 us[0m ×2 + 14.28sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/masks_visualization" + 14.28sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/masks_visualization"[0m ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118012 ms (missed cycles : 2). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118012 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun might occur, Total time : 8758.731 us (Expected < 1666.667 us) --> Read time : 150.505 us, Update time : 8144.553 us, Write time : 463.673 us + 14.85sWARNros2_control_nodeOverrun might occur, Total time : 8758.731 us (Expected < 1666.667 us) --> Read time : 150.505 us, Update time : 8144.553 us, Write time : 463.673 us[0m ×2 + 15.08sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.29sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/pcd_pointcloud_captures" + 15.29sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/pcd_pointcloud_captures"[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883430 ms (missed cycles : 3). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883430 ms (missed cycles : 3).[0m ×2 + 15.79sINFOfoxglove_bridgeRemoving channel 83 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 15.79sINFOfoxglove_bridgeRemoving channel 83 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 15.96sWARNcontroller_managerOverrun might occur, Total time : 1753.640 us (Expected < 1666.667 us) --> Read time : 101.403 us, Update time : 1374.739 us, Write time : 277.498 us + 15.96sWARNros2_control_nodeOverrun might occur, Total time : 1753.640 us (Expected < 1666.667 us) --> Read time : 101.403 us, Update time : 1374.739 us, Write time : 277.498 us[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.614185 ms (missed cycles : 7). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.614185 ms (missed cycles : 7).[0m ×2 + 16.96sWARNcontroller_managerOverrun might occur, Total time : 7061.292 us (Expected < 1666.667 us) --> Read time : 75.042 us, Update time : 6528.837 us, Write time : 457.413 us + 16.96sWARNros2_control_nodeOverrun might occur, Total time : 7061.292 us (Expected < 1666.667 us) --> Read time : 75.042 us, Update time : 6528.837 us, Write time : 457.413 us[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612139 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612139 ms (missed cycles : 2).[0m ×2 + 17.74sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 17.99sWARNcontroller_managerOverrun might occur, Total time : 1995.667 us (Expected < 1666.667 us) --> Read time : 87.812 us, Update time : 1640.897 us, Write time : 266.958 us + 17.99sINFOobjective_server_nodeFound path in 4 iterations (0.00281826 s). ×2 + 18.00sWARNros2_control_nodeOverrun might occur, Total time : 1995.667 us (Expected < 1666.667 us) --> Read time : 87.812 us, Update time : 1640.897 us, Write time : 266.958 us[0m ×2 + 18.04sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.07sINFOobjective_server_nodeFound path in 12 iterations (0.00295087 s). ×2 + 18.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 18.14sINFOobjective_server_nodeFound path in 1 iterations (0.00206591 s). ×2 + 18.17sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 18.19sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×6 + 18.21sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.22sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 18.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.26sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/solution" + 18.26sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/solution"[0m ×2 + 18.26sINFOobjective_server_nodeFound path in 12 iterations (0.00358545 s). ×2 + 18.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 18.33sINFOobjective_server_nodeFound path in 1 iterations (0.00313888 s). ×2 + 18.36sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 18.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 18.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.41sINFOobjective_server_nodeFound path in 4 iterations (0.00322299 s). ×2 + 18.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.50sINFOobjective_server_nodeFound path in 4 iterations (0.00294305 s). ×2 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.655279 ms (missed cycles : 7). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.655279 ms (missed cycles : 7).[0m ×2 + 18.56sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 18.59sINFOobjective_server_nodeFound path in 1 iterations (0.00344283 s). ×2 + 18.63sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 18.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 18.71sINFOobjective_server_nodeFound path in 1 iterations (0.00215686 s). ×2 + 18.76sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 18.80sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 18.82sINFOobjective_server_nodeFound path in 4 iterations (0.00356131 s). ×2 + 18.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X___________________________X] ×2 + 18.92sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 18.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X] ×2 + 19.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.02sINFOros2_control_node[2026-06-10 16:45:30.379] [info] Received new action goal ×2 + 19.02sINFOros2_control_node[2026-06-10 16:45:30.379] [info] Accepted new action goal ×2 + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276728 ms (missed cycles : 2). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276728 ms (missed cycles : 2).[0m ×2 + 19.59sWARNcontroller_managerOverrun might occur, Total time : 3643.544 us (Expected < 1666.667 us) --> Read time : 121.883 us, Update time : 3149.370 us, Write time : 372.291 us + 19.59sWARNros2_control_nodeOverrun might occur, Total time : 3643.544 us (Expected < 1666.667 us) --> Read time : 121.883 us, Update time : 3149.370 us, Write time : 372.291 us[0m ×2 + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957986 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957986 ms (missed cycles : 2).[0m ×2 + 20.75sWARNcontroller_managerOverrun might occur, Total time : 2874.252 us (Expected < 1666.667 us) --> Read time : 159.594 us, Update time : 2348.977 us, Write time : 365.681 us + 20.76sWARNros2_control_nodeOverrun might occur, Total time : 2874.252 us (Expected < 1666.667 us) --> Read time : 159.594 us, Update time : 2348.977 us, Write time : 365.681 us[0m ×2 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814104 ms (missed cycles : 3). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814104 ms (missed cycles : 3).[0m ×2 + 22.23sWARNcontroller_managerOverrun might occur, Total time : 5320.932 us (Expected < 1666.667 us) --> Read time : 145.654 us, Update time : 4795.257 us, Write time : 380.021 us + 22.23sWARNros2_control_nodeOverrun might occur, Total time : 5320.932 us (Expected < 1666.667 us) --> Read time : 145.654 us, Update time : 4795.257 us, Write time : 380.021 us[0m ×2 + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813651 ms (missed cycles : 4). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813651 ms (missed cycles : 4).[0m ×2 + 23.61sWARNcontroller_managerOverrun might occur, Total time : 2707.606 us (Expected < 1666.667 us) --> Read time : 220.026 us, Update time : 1547.394 us, Write time : 940.186 us + 23.61sWARNros2_control_nodeOverrun might occur, Total time : 2707.606 us (Expected < 1666.667 us) --> Read time : 220.026 us, Update time : 1547.394 us, Write time : 940.186 us[0m ×2 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590517 ms (missed cycles : 7). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590517 ms (missed cycles : 7).[0m ×2 + 24.02sINFOros2_control_node[2026-06-10 16:45:35.381] [info] Received new action goal ×2 + 24.02sINFOros2_control_node[2026-06-10 16:45:35.381] [info] Accepted new action goal ×2 + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.690664 ms (missed cycles : 7). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.690664 ms (missed cycles : 7).[0m ×2 + 25.17sWARNcontroller_managerOverrun might occur, Total time : 1675.858 us (Expected < 1666.667 us) --> Read time : 81.952 us, Update time : 1327.448 us, Write time : 266.458 us + 25.17sWARNros2_control_nodeOverrun might occur, Total time : 1675.858 us (Expected < 1666.667 us) --> Read time : 81.952 us, Update time : 1327.448 us, Write time : 266.458 us[0m ×2 + 25.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 25.61sINFOros2_control_node[2026-06-10 16:45:36.976] [info] Received new action goal ×2 + 25.61sINFOros2_control_node[2026-06-10 16:45:36.976] [info] Accepted new action goal ×2 + 25.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441128 ms (missed cycles : 5). + 25.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441128 ms (missed cycles : 5).[0m ×2 + 26.82sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567237 ms (missed cycles : 3). + 26.86sINFOros2_control_node[2026-06-10 16:45:38.220] [info] Received new action goal ×2 + 26.86sINFOros2_control_node[2026-06-10 16:45:38.220] [info] Accepted new action goal ×2 + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567237 ms (missed cycles : 3).[0m ×2 + 27.11sWARNcontroller_managerOverrun might occur, Total time : 1985.797 us (Expected < 1666.667 us) --> Read time : 1617.487 us, Update time : 71.462 us, Write time : 296.848 us + 27.11sWARNros2_control_nodeOverrun might occur, Total time : 1985.797 us (Expected < 1666.667 us) --> Read time : 1617.487 us, Update time : 71.462 us, Write time : 296.848 us[0m ×2 + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736810 ms (missed cycles : 2). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736810 ms (missed cycles : 2).[0m ×2 + 28.19sWARNcontroller_managerOverrun might occur, Total time : 2245.624 us (Expected < 1666.667 us) --> Read time : 164.234 us, Update time : 1672.958 us, Write time : 408.432 us + 28.19sWARNros2_control_nodeOverrun might occur, Total time : 2245.624 us (Expected < 1666.667 us) --> Read time : 164.234 us, Update time : 1672.958 us, Write time : 408.432 us[0m ×2 + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851219 ms (missed cycles : 3). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851219 ms (missed cycles : 3).[0m ×2 + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.708163 ms (missed cycles : 7). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.708163 ms (missed cycles : 7).[0m ×2 + 30.12sWARNcontroller_managerOverrun might occur, Total time : 5453.436 us (Expected < 1666.667 us) --> Read time : 191.145 us, Update time : 4749.796 us, Write time : 512.495 us + 30.12sWARNros2_control_nodeOverrun might occur, Total time : 5453.436 us (Expected < 1666.667 us) --> Read time : 191.145 us, Update time : 4749.796 us, Write time : 512.495 us[0m ×2 + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699087 ms (missed cycles : 3). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699087 ms (missed cycles : 3).[0m ×2 + 31.13sWARNcontroller_managerOverrun might occur, Total time : 1757.751 us (Expected < 1666.667 us) --> Read time : 123.334 us, Update time : 1279.346 us, Write time : 355.071 us + 31.13sWARNros2_control_nodeOverrun might occur, Total time : 1757.751 us (Expected < 1666.667 us) --> Read time : 123.334 us, Update time : 1279.346 us, Write time : 355.071 us[0m ×2 + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155152 ms (missed cycles : 4). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155152 ms (missed cycles : 4).[0m ×2 + 32.08sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781109943.44279742 seconds ×3 + 32.46sWARNcontroller_managerOverrun might occur, Total time : 5476.826 us (Expected < 1666.667 us) --> Read time : 127.604 us, Update time : 4976.972 us, Write time : 372.250 us + 32.46sWARNros2_control_nodeOverrun might occur, Total time : 5476.826 us (Expected < 1666.667 us) --> Read time : 127.604 us, Update time : 4976.972 us, Write time : 372.250 us[0m ×2 + 32.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781109944.16975951 seconds. ×3 + 33.00sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 33.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.02sINFOros2_control_node[2026-06-10 16:45:44.384] [info] Received new action goal ×2 + 33.02sINFOros2_control_node[2026-06-10 16:45:44.384] [info] Accepted new action goal ×2 + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948425 ms (missed cycles : 2). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948425 ms (missed cycles : 2).[0m ×2 + 33.23sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 33.23sINFOfoxglove_bridgeRemoving channel 82 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 33.23sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution" + 33.23sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 33.23sINFOfoxglove_bridgeRemoving channel 82 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 33.23sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution"[0m ×2 + 33.56sWARNcontroller_managerOverrun might occur, Total time : 1981.937 us (Expected < 1666.667 us) --> Read time : 416.292 us, Update time : 60.612 us, Write time : 1505.033 us + 33.56sWARNros2_control_nodeOverrun might occur, Total time : 1981.937 us (Expected < 1666.667 us) --> Read time : 416.292 us, Update time : 60.612 us, Write time : 1505.033 us[0m ×2 + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139465 ms (missed cycles : 7). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139465 ms (missed cycles : 7).[0m ×2 + 34.59sWARNcontroller_managerOverrun might occur, Total time : 2064.609 us (Expected < 1666.667 us) --> Read time : 108.874 us, Update time : 1686.858 us, Write time : 268.877 us + 34.59sWARNros2_control_nodeOverrun might occur, Total time : 2064.609 us (Expected < 1666.667 us) --> Read time : 108.874 us, Update time : 1686.858 us, Write time : 268.877 us[0m ×2 + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002919 ms (missed cycles : 3). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002919 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 24.3s | 3 errors · 159 warnings · 132 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6).[0m ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Canceling active goal... ×2 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781109723.90850830 seconds ×3 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781109724.47178173 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781109724.59191728 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781109725.22173405 seconds. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us + 4.89sWARNros2_control_nodeOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190840 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190840 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850046 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850046 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun might occur, Total time : 2136.351 us (Expected < 1666.667 us) --> Read time : 155.744 us, Update time : 1509.193 us, Write time : 471.414 us + 7.38sWARNros2_control_nodeOverrun might occur, Total time : 2136.351 us (Expected < 1666.667 us) --> Read time : 155.744 us, Update time : 1509.193 us, Write time : 471.414 us[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866566 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866566 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun might occur, Total time : 4747.416 us (Expected < 1666.667 us) --> Read time : 98.633 us, Update time : 4125.678 us, Write time : 523.105 us + 8.53sWARNros2_control_nodeOverrun might occur, Total time : 4747.416 us (Expected < 1666.667 us) --> Read time : 98.633 us, Update time : 4125.678 us, Write time : 523.105 us[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818921 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818921 ms (missed cycles : 3).[0m ×2 + 9.79sWARNcontroller_managerOverrun might occur, Total time : 1706.337 us (Expected < 1666.667 us) --> Read time : 151.184 us, Update time : 1248.645 us, Write time : 306.508 us + 9.79sWARNros2_control_nodeOverrun might occur, Total time : 1706.337 us (Expected < 1666.667 us) --> Read time : 151.184 us, Update time : 1248.645 us, Write time : 306.508 us[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384011 ms (missed cycles : 4). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384011 ms (missed cycles : 4).[0m ×2 + 10.89sWARNcontroller_managerOverrun might occur, Total time : 5400.624 us (Expected < 1666.667 us) --> Read time : 125.334 us, Update time : 4865.588 us, Write time : 409.702 us + 10.89sWARNros2_control_nodeOverrun might occur, Total time : 5400.624 us (Expected < 1666.667 us) --> Read time : 125.334 us, Update time : 4865.588 us, Write time : 409.702 us[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.809229 ms (missed cycles : 12). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.809229 ms (missed cycles : 12).[0m ×2 + 12.44sWARNcontroller_managerOverrun might occur, Total time : 5291.830 us (Expected < 1666.667 us) --> Read time : 186.175 us, Update time : 4691.273 us, Write time : 414.382 us + 12.44sWARNros2_control_nodeOverrun might occur, Total time : 5291.830 us (Expected < 1666.667 us) --> Read time : 186.175 us, Update time : 4691.273 us, Write time : 414.382 us[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047378 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047378 ms (missed cycles : 2).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680443 ms (missed cycles : 2). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680443 ms (missed cycles : 2).[0m ×2 + 13.55sWARNcontroller_managerOverrun might occur, Total time : 1986.907 us (Expected < 1666.667 us) --> Read time : 161.325 us, Update time : 1476.372 us, Write time : 349.210 us + 13.55sWARNros2_control_nodeOverrun might occur, Total time : 1986.907 us (Expected < 1666.667 us) --> Read time : 161.325 us, Update time : 1476.372 us, Write time : 349.210 us[0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551307 ms (missed cycles : 3). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551307 ms (missed cycles : 3).[0m ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406279 ms (missed cycles : 3). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406279 ms (missed cycles : 3).[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820955 ms (missed cycles : 3). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820955 ms (missed cycles : 3).[0m ×2 + 17.10sWARNcontroller_managerOverrun might occur, Total time : 4259.822 us (Expected < 1666.667 us) --> Read time : 3737.287 us, Update time : 89.402 us, Write time : 433.133 us + 17.11sWARNros2_control_nodeOverrun might occur, Total time : 4259.822 us (Expected < 1666.667 us) --> Read time : 3737.287 us, Update time : 89.402 us, Write time : 433.133 us[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155596 ms (missed cycles : 4). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155596 ms (missed cycles : 4).[0m ×2 + 18.60sWARNcontroller_managerOverrun might occur, Total time : 1855.423 us (Expected < 1666.667 us) --> Read time : 113.614 us, Update time : 1411.950 us, Write time : 329.859 us + 18.61sWARNros2_control_nodeOverrun might occur, Total time : 1855.423 us (Expected < 1666.667 us) --> Read time : 113.614 us, Update time : 1411.950 us, Write time : 329.859 us[0m ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.061038 ms (missed cycles : 6). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.061038 ms (missed cycles : 6).[0m ×2 + 19.69sWARNcontroller_managerOverrun might occur, Total time : 3547.502 us (Expected < 1666.667 us) --> Read time : 114.974 us, Update time : 3082.738 us, Write time : 349.790 us + 19.69sWARNros2_control_nodeOverrun might occur, Total time : 3547.502 us (Expected < 1666.667 us) --> Read time : 114.974 us, Update time : 3082.738 us, Write time : 349.790 us[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.840244 ms (missed cycles : 7). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.840244 ms (missed cycles : 7).[0m ×2 + 20.79sWARNcontroller_managerOverrun might occur, Total time : 2069.469 us (Expected < 1666.667 us) --> Read time : 123.523 us, Update time : 92.873 us, Write time : 1853.073 us + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609519 ms (missed cycles : 2). + 20.79sWARNros2_control_nodeOverrun might occur, Total time : 2069.469 us (Expected < 1666.667 us) --> Read time : 123.523 us, Update time : 92.873 us, Write time : 1853.073 us[0m ×2 + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609519 ms (missed cycles : 2).[0m ×2 + 21.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 21.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 21.68sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021810 ms (missed cycles : 2). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021810 ms (missed cycles : 2).[0m ×2 + 21.96sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 21.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 21.97sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 21.97sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 22.02sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 22.04sWARNcontroller_managerOverrun might occur, Total time : 4662.572 us (Expected < 1666.667 us) --> Read time : 101.563 us, Update time : 4085.155 us, Write time : 475.854 us + 22.04sWARNros2_control_nodeOverrun might occur, Total time : 4662.572 us (Expected < 1666.667 us) --> Read time : 101.563 us, Update time : 4085.155 us, Write time : 475.854 us[0m ×2 + 22.05sINFOobjective_server_nodeFound path in 5 iterations (0.00464171 s). ×2 + 22.08sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 22.12sINFOros2_control_node[2026-06-10 16:42:23.789] [info] Received new action goal ×2 + 22.12sINFOros2_control_node[2026-06-10 16:42:23.789] [info] Accepted new action goal ×2 + 22.19sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution" + 22.19sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/solution"[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905992 ms (missed cycles : 3). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905992 ms (missed cycles : 3).[0m ×2 + 23.21sWARNcontroller_managerOverrun might occur, Total time : 1783.970 us (Expected < 1666.667 us) --> Read time : 130.313 us, Update time : 1360.519 us, Write time : 293.138 us + 23.21sWARNros2_control_nodeOverrun might occur, Total time : 1783.970 us (Expected < 1666.667 us) --> Read time : 130.313 us, Update time : 1360.519 us, Write time : 293.138 us[0m ×2 + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490818 ms (missed cycles : 3). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490818 ms (missed cycles : 3).[0m ×2 + 24.35sINFOros2_control_node[2026-06-10 16:42:26.021] [info] Received new action goal ×2 + 24.35sINFOros2_control_node[2026-06-10 16:42:26.021] [info] Accepted new action goal ×2 + 24.43sWARNcontroller_managerOverrun might occur, Total time : 2281.184 us (Expected < 1666.667 us) --> Read time : 158.074 us, Update time : 43.241 us, Write time : 2079.869 us + 24.43sWARNros2_control_nodeOverrun might occur, Total time : 2281.184 us (Expected < 1666.667 us) --> Read time : 158.074 us, Update time : 43.241 us, Write time : 2079.869 us[0m ×2 + 24.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6).[0m ×2 + 25.48sWARNcontroller_managerOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us + 25.48sWARNros2_control_nodeOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us[0m ×2 + 26.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.01sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Received new action goal ×2 + 26.01sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Accepted new action goal ×2 + 26.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2). + 26.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2).[0m ×2 + 26.62sWARNcontroller_managerOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us + 26.62sWARNros2_control_nodeOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us[0m ×2 + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7).[0m ×2 + 27.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781109748.96190953 seconds ×3 + 27.82sWARNcontroller_managerOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us + 27.82sWARNros2_control_nodeOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us[0m ×2 + 27.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781109749.53998113 seconds. ×3 + 27.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781109749.62013960 seconds ×3 + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5).[0m ×2 + 28.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 28.30sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 28.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781109750.24371481 seconds. ×3 + 28.66sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 28.66sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 28.67sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Received new action goal ×2 + 28.67sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Accepted new action goal ×2 + 28.80sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 28.80sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 29.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2). + 29.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2).[0m ×2 + 29.23sWARNcontroller_managerOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us + 29.23sWARNros2_control_nodeOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us[0m ×2 + 30.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 12.0s | 237 errors · 93 warnings · 414 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×76 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002178013879 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×152 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002178013879[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032318165602 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032318165602[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034944203301 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034944203301[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030778972243 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030778972243[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010893738751 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010893738751[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010903674469 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010903674469[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006079935927 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006079935927[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001232983035 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001232983035[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001058881767 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001058881767[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007588201699 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007588201699[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015295481113 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015295481113[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014562353359 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014562353359[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080474885462 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080474885462[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051082874880 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051082874880[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069096063952 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069096063952[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056087385847 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056087385847[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061610983709 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061610983709[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064245627392 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064245627392[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037191618823 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037191618823[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061691277830 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061691277830[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056101688538 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056101688538[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041467551518 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041467551518[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036697771029 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036697771029[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034583416179 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034583416179[0m ×2 + 0.32sWARNcontroller_managerOverrun might occur, Total time : 2967.844 us (Expected < 1666.667 us) --> Read time : 2574.023 us, Update time : 73.752 us, Write time : 320.069 us + 0.32sWARNros2_control_nodeOverrun might occur, Total time : 2967.844 us (Expected < 1666.667 us) --> Read time : 2574.023 us, Update time : 73.752 us, Write time : 320.069 us[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037031144855 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037031144855[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024557615857 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024557615857[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019955288240 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019955288240[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018479188493 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018479188493[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023569741503 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023569741503[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021862993050 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021862993050[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015903037863 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015903037863[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019208092760 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019208092760[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016181591931 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016181591931[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016555192916 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016555192916[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015420129203 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015420129203[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017217649773 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017217649773[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014700230288 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014700230288[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018371125953 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018371125953[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017754523727 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017754523727[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014167802531 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014167802531[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014262691476 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014262691476[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016495958660 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016495958660[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016719376615 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016719376615[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010247384769 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010247384769[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010590795472 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010590795472[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011805054447 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011805054447[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011645127486 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011645127486[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012366139404 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012366139404[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008976757394 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008976757394[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017093104595 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017093104595[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011412637987 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011412637987[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795176 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795176 ms (missed cycles : 2).[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017733911746 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017733911746[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016946731954 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016946731954[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017121521600 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017121521600[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018284635572 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018284635572[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017049353629 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017049353629[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016642600658 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016642600658[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014485517283 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014485517283[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014484900818 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014484900818[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015286347810 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015286347810[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012856921883 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012856921883[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015693926355 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015693926355[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015825938098 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015825938098[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009517402178 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009517402178[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011553632084 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011553632084[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013063919435 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013063919435[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011876299325 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011876299325[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004451161411 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004451161411[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005936369646 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005936369646[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006146951440 + 0.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006146951440[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007531873034 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007531873034[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006386505645 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006386505645[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003928727668 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003928727668[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000188680285 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000188680285[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001622117448 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001622117448[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005122524025 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005122524025[0m ×2 + 1.04sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 1.07sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 1.07sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m ×2 + 1.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 7190.805 us (Expected < 1666.667 us) --> Read time : 100.303 us, Update time : 6561.838 us, Write time : 528.664 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 7190.805 us (Expected < 1666.667 us) --> Read time : 100.303 us, Update time : 6561.838 us, Write time : 528.664 us[0m ×2 + 1.57sERRORobjective_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. ×9 + 1.57sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.57sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 1.58sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781109900.83516979 seconds ×3 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046000 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046000 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781109901.41233468 seconds. ×3 + 2.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×9 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 2.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.30sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 2.30sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.31sINFOros2_control_node[2026-06-10 16:45:01.565] [info] Received new action goal ×2 + 2.31sINFOros2_control_node[2026-06-10 16:45:01.565] [info] Accepted new action goal ×2 + 2.42sINFOobjective_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 + 2.44sINFOobjective_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 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.65sWARNcontroller_managerOverrun might occur, Total time : 1722.720 us (Expected < 1666.667 us) --> Read time : 202.276 us, Update time : 1177.454 us, Write time : 342.990 us + 2.65sWARNros2_control_nodeOverrun might occur, Total time : 1722.720 us (Expected < 1666.667 us) --> Read time : 202.276 us, Update time : 1177.454 us, Write time : 342.990 us[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881080 ms (missed cycles : 4). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881080 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781109902.59311247 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737159 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737159 ms (missed cycles : 4).[0m ×2 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 3734.367 us (Expected < 1666.667 us) --> Read time : 172.845 us, Update time : 3132.789 us, Write time : 428.733 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 3734.367 us (Expected < 1666.667 us) --> Read time : 172.845 us, Update time : 3132.789 us, Write time : 428.733 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781109903.17893696 seconds. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-06-10 16:45:03.343] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-06-10 16:45:03.343] [info] Accepted new action goal ×2 + 4.12sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/moveit_pro_ui/switch_primary_view" + 4.12sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358748 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358748 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 5281.510 us (Expected < 1666.667 us) --> Read time : 146.314 us, Update time : 4787.826 us, Write time : 347.370 us + 5.43sWARNros2_control_nodeOverrun might occur, Total time : 5281.510 us (Expected < 1666.667 us) --> Read time : 146.314 us, Update time : 4787.826 us, Write time : 347.370 us[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968649 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968649 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 1735.600 us (Expected < 1666.667 us) --> Read time : 176.196 us, Update time : 36.871 us, Write time : 1522.533 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1735.600 us (Expected < 1666.667 us) --> Read time : 176.196 us, Update time : 36.871 us, Write time : 1522.533 us[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303616 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303616 ms (missed cycles : 4).[0m ×2 + 7.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.27sINFOros2_control_node[2026-06-10 16:45:06.531] [info] Received new action goal ×2 + 7.27sINFOros2_control_node[2026-06-10 16:45:06.531] [info] Accepted new action goal ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447936 ms (missed cycles : 5). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.447936 ms (missed cycles : 5).[0m ×2 + 8.30sWARNcontroller_managerOverrun might occur, Total time : 5330.881 us (Expected < 1666.667 us) --> Read time : 130.833 us, Update time : 4807.417 us, Write time : 392.631 us + 8.31sWARNros2_control_nodeOverrun might occur, Total time : 5330.881 us (Expected < 1666.667 us) --> Read time : 130.833 us, Update time : 4807.417 us, Write time : 392.631 us[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197154 ms (missed cycles : 4). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197154 ms (missed cycles : 4).[0m ×2 + 9.24sINFOros2_control_node[2026-06-10 16:45:08.497] [info] Received new action goal ×2 + 9.24sINFOros2_control_node[2026-06-10 16:45:08.497] [info] Accepted new action goal ×2 + 9.31sWARNcontroller_managerOverrun might occur, Total time : 2442.060 us (Expected < 1666.667 us) --> Read time : 101.133 us, Update time : 2056.529 us, Write time : 284.398 us + 9.31sWARNros2_control_nodeOverrun might occur, Total time : 2442.060 us (Expected < 1666.667 us) --> Read time : 101.133 us, Update time : 2056.529 us, Write time : 284.398 us[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029838 ms (missed cycles : 3). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029838 ms (missed cycles : 3).[0m ×2 + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.723564 ms (missed cycles : 7). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.723564 ms (missed cycles : 7).[0m ×2 + 11.68sWARNcontroller_managerOverrun might occur, Total time : 1817.162 us (Expected < 1666.667 us) --> Read time : 187.735 us, Update time : 1269.186 us, Write time : 360.241 us + 11.69sWARNros2_control_nodeOverrun might occur, Total time : 1817.162 us (Expected < 1666.667 us) --> Read time : 187.735 us, Update time : 1269.186 us, Write time : 360.241 us[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819368 ms (missed cycles : 3). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819368 ms (missed cycles : 3).[0m ×2 + 12.91sWARNcontroller_managerOverrun might occur, Total time : 3700.196 us (Expected < 1666.667 us) --> Read time : 144.815 us, Update time : 3178.621 us, Write time : 376.760 us + 12.91sWARNros2_control_nodeOverrun might occur, Total time : 3700.196 us (Expected < 1666.667 us) --> Read time : 144.815 us, Update time : 3178.621 us, Write time : 376.760 us[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025730 ms (missed cycles : 2). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025730 ms (missed cycles : 2).[0m ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020425 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020425 ms (missed cycles : 2).[0m ×2 + 14.33sWARNcontroller_managerOverrun might occur, Total time : 5407.595 us (Expected < 1666.667 us) --> Read time : 166.335 us, Update time : 4839.388 us, Write time : 401.872 us + 14.33sWARNros2_control_nodeOverrun might occur, Total time : 5407.595 us (Expected < 1666.667 us) --> Read time : 166.335 us, Update time : 4839.388 us, Write time : 401.872 us[0m ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939451 ms (missed cycles : 3). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939451 ms (missed cycles : 3).[0m ×2 + 15.32sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1781109914.58065438 seconds ×3 + 15.64sWARNcontroller_managerOverrun might occur, Total time : 1801.921 us (Expected < 1666.667 us) --> Read time : 391.001 us, Update time : 68.952 us, Write time : 1341.968 us + 15.66sWARNros2_control_nodeOverrun might occur, Total time : 1801.921 us (Expected < 1666.667 us) --> Read time : 391.001 us, Update time : 68.952 us, Write time : 1341.968 us[0m ×2 + 15.93sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1781109915.18941903 seconds. ×3 + 15.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 15.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 16.03sINFOfoxglove_bridgeRemoving channel 81 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 16.03sINFOfoxglove_bridgeRemoving channel 81 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.859166 ms (missed cycles : 6). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.859166 ms (missed cycles : 6).[0m ×2 + 16.73sWARNcontroller_managerOverrun might occur, Total time : 3643.945 us (Expected < 1666.667 us) --> Read time : 113.254 us, Update time : 3181.991 us, Write time : 348.700 us + 16.74sWARNros2_control_nodeOverrun might occur, Total time : 3643.945 us (Expected < 1666.667 us) --> Read time : 113.254 us, Update time : 3181.991 us, Write time : 348.700 us[0m ×2 + 17.09sINFOobjective_server_nodeFound path in 7 iterations (0.00457323 s). ×2 + 17.15sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] ×2 + 17.16sINFOros2_control_node[2026-06-10 16:45:16.414] [info] Received new action goal ×2 + 17.16sINFOros2_control_node[2026-06-10 16:45:16.414] [info] Accepted new action goal ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792142 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792142 ms (missed cycles : 2).[0m ×2 + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544160 ms (missed cycles : 4). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544160 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 3 errors · 87 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4506.578 us (Expected < 1666.667 us) --> Read time : 159.095 us, Update time : 3858.889 us, Write time : 488.594 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4506.578 us (Expected < 1666.667 us) --> Read time : 159.095 us, Update time : 3858.889 us, Write time : 488.594 us[0m ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.558997 ms (missed cycles : 7). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.558997 ms (missed cycles : 7).[0m ×2 + 0.36sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.36sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.36sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.43sINFOobjective_server_nodeFound path in 5 iterations (0.0057877 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.49sINFOros2_control_node[2026-06-10 16:43:00.106] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-06-10 16:43:00.106] [info] Accepted new action goal ×2 + 0.89sINFOros2_control_node[2026-06-10 16:43:00.498] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-06-10 16:43:00.498] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798786 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798786 ms (missed cycles : 4).[0m ×2 + 2.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133993 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133993 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 2774.379 us (Expected < 1666.667 us) --> Read time : 92.883 us, Update time : 2362.047 us, Write time : 319.449 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 2774.379 us (Expected < 1666.667 us) --> Read time : 92.883 us, Update time : 2362.047 us, Write time : 319.449 us[0m ×2 + 2.77sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.77sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.77sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.77sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1781109782.38506460 seconds ×3 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813746 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813746 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1781109782.99896932 seconds. ×3 + 3.42sWARNcontroller_managerOverrun might occur, Total time : 3237.182 us (Expected < 1666.667 us) --> Read time : 102.113 us, Update time : 45.871 us, Write time : 3089.198 us + 3.42sWARNros2_control_nodeOverrun might occur, Total time : 3237.182 us (Expected < 1666.667 us) --> Read time : 102.113 us, Update time : 45.871 us, Write time : 3089.198 us[0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.55sINFOros2_control_node[2026-06-10 16:43:03.156] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-06-10 16:43:03.156] [info] Accepted new action goal ×2 + 3.79sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.79sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.79sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.79sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.965395 ms (missed cycles : 6). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.965395 ms (missed cycles : 6).[0m ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 3567.611 us (Expected < 1666.667 us) --> Read time : 139.304 us, Update time : 3074.127 us, Write time : 354.180 us + 4.89sWARNros2_control_nodeOverrun might occur, Total time : 3567.611 us (Expected < 1666.667 us) --> Read time : 139.304 us, Update time : 3074.127 us, Write time : 354.180 us[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946896 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946896 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_node[2026-06-10 16:43:05.524] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-06-10 16:43:05.524] [info] Accepted new action goal ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621048 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621048 ms (missed cycles : 4).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523115 ms (missed cycles : 4). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523115 ms (missed cycles : 4).[0m ×2 + 8.04sWARNcontroller_managerOverrun might occur, Total time : 3532.310 us (Expected < 1666.667 us) --> Read time : 95.043 us, Update time : 3123.898 us, Write time : 313.369 us + 8.04sWARNros2_control_nodeOverrun might occur, Total time : 3532.310 us (Expected < 1666.667 us) --> Read time : 95.043 us, Update time : 3123.898 us, Write time : 313.369 us[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584386 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584386 ms (missed cycles : 2).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913176 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913176 ms (missed cycles : 3).[0m ×2 + 9.66sWARNcontroller_managerOverrun might occur, Total time : 5512.364 us (Expected < 1666.667 us) --> Read time : 111.373 us, Update time : 5001.190 us, Write time : 399.801 us + 9.66sWARNros2_control_nodeOverrun might occur, Total time : 5512.364 us (Expected < 1666.667 us) --> Read time : 111.373 us, Update time : 5001.190 us, Write time : 399.801 us[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093364 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093364 ms (missed cycles : 2).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.647503 ms (missed cycles : 7). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.647503 ms (missed cycles : 7).[0m ×2 + 12.54sWARNcontroller_managerOverrun might occur, Total time : 3483.537 us (Expected < 1666.667 us) --> Read time : 99.792 us, Update time : 3097.047 us, Write time : 286.698 us + 12.54sWARNros2_control_nodeOverrun might occur, Total time : 3483.537 us (Expected < 1666.667 us) --> Read time : 99.792 us, Update time : 3097.047 us, Write time : 286.698 us[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928111 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928111 ms (missed cycles : 3).[0m ×2 + 13.57sWARNcontroller_managerOverrun might occur, Total time : 1765.560 us (Expected < 1666.667 us) --> Read time : 316.159 us, Update time : 701.320 us, Write time : 748.081 us + 13.57sWARNros2_control_nodeOverrun might occur, Total time : 1765.560 us (Expected < 1666.667 us) --> Read time : 316.159 us, Update time : 701.320 us, Write time : 748.081 us[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931069 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931069 ms (missed cycles : 3).[0m ×2 + 14.48sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781109794.08814383 seconds ×3 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128587 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128587 ms (missed cycles : 3).[0m ×2 + 15.05sWARNcontroller_managerOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us + 15.05sWARNros2_control_nodeOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781109794.70557332 seconds. ×3 + 15.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 15.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 15.16sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.17sWARNcontroller_managerOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us + 15.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.17sWARNros2_control_nodeOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us[0m ×2 + 15.17sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781109794.78585100 seconds ×3 + 15.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781109795.33276129 seconds. ×3 + 15.84sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 15.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3).[0m ×2 + 15.85sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Received new action goal ×2 + 15.85sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Accepted new action goal ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8).[0m ×2 + 17.32sWARNcontroller_managerOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us + 17.32sWARNros2_control_nodeOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us[0m ×2 + 17.85sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781109797.46291137 seconds ×3 + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 90 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744631 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744631 ms (missed cycles : 4).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1692.368 us (Expected < 1666.667 us) --> Read time : 184.515 us, Update time : 228.937 us, Write time : 1278.916 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1692.368 us (Expected < 1666.667 us) --> Read time : 184.515 us, Update time : 228.937 us, Write time : 1278.916 us[0m ×2 + 0.70sINFOobjective_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 + 0.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.71sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.71sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.71sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554048 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554048 ms (missed cycles : 4).[0m ×2 + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.79sWARNcontroller_managerOverrun might occur, Total time : 3647.433 us (Expected < 1666.667 us) --> Read time : 130.524 us, Update time : 3133.908 us, Write time : 383.001 us + 1.79sWARNros2_control_nodeOverrun might occur, Total time : 3647.433 us (Expected < 1666.667 us) --> Read time : 130.524 us, Update time : 3133.908 us, Write time : 383.001 us[0m ×2 + 1.80sINFOros2_control_node[2026-06-10 16:44:10.140] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-06-10 16:44:10.140] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306406 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306406 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1781109851.29650569 seconds ×3 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039342 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039342 ms (missed cycles : 3).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 1748.730 us (Expected < 1666.667 us) --> Read time : 159.065 us, Update time : 695.140 us, Write time : 894.525 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 1748.730 us (Expected < 1666.667 us) --> Read time : 159.065 us, Update time : 695.140 us, Write time : 894.525 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Push Button` starting at time: 1781109851.98455215 seconds. ×3 + 3.97sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.97sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.838451 ms (missed cycles : 6). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.838451 ms (missed cycles : 6).[0m ×2 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.92sINFOros2_control_node[2026-06-10 16:44:13.258] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-06-10 16:44:13.258] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun might occur, Total time : 1742.139 us (Expected < 1666.667 us) --> Read time : 159.864 us, Update time : 29.091 us, Write time : 1553.184 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 1742.139 us (Expected < 1666.667 us) --> Read time : 159.864 us, Update time : 29.091 us, Write time : 1553.184 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130421 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130421 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696788 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696788 ms (missed cycles : 4).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933151 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933151 ms (missed cycles : 3).[0m ×2 + 7.16sWARNcontroller_managerOverrun might occur, Total time : 3703.096 us (Expected < 1666.667 us) --> Read time : 161.555 us, Update time : 40.651 us, Write time : 3500.890 us + 7.16sWARNros2_control_nodeOverrun might occur, Total time : 3703.096 us (Expected < 1666.667 us) --> Read time : 161.555 us, Update time : 40.651 us, Write time : 3500.890 us[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886630 ms (missed cycles : 3). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886630 ms (missed cycles : 3).[0m ×2 + 8.31sWARNcontroller_managerOverrun might occur, Total time : 1694.517 us (Expected < 1666.667 us) --> Read time : 98.972 us, Update time : 1298.557 us, Write time : 296.988 us + 8.32sWARNros2_control_nodeOverrun might occur, Total time : 1694.517 us (Expected < 1666.667 us) --> Read time : 98.972 us, Update time : 1298.557 us, Write time : 296.988 us[0m ×2 + 8.61sINFOobjective_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 + 8.61sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.61sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.61sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.62sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224299 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224299 ms (missed cycles : 2).[0m ×2 + 9.77sWARNcontroller_managerOverrun might occur, Total time : 3694.225 us (Expected < 1666.667 us) --> Read time : 118.994 us, Update time : 3186.970 us, Write time : 388.261 us + 9.77sWARNros2_control_nodeOverrun might occur, Total time : 3694.225 us (Expected < 1666.667 us) --> Read time : 118.994 us, Update time : 3186.970 us, Write time : 388.261 us[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041365 ms (missed cycles : 3). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041365 ms (missed cycles : 3).[0m ×2 + 10.90sWARNcontroller_managerOverrun might occur, Total time : 3118.908 us (Expected < 1666.667 us) --> Read time : 97.493 us, Update time : 28.970 us, Write time : 2992.445 us + 10.91sWARNros2_control_nodeOverrun might occur, Total time : 3118.908 us (Expected < 1666.667 us) --> Read time : 97.493 us, Update time : 28.970 us, Write time : 2992.445 us[0m ×2 + 10.97sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 10.98sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.00sINFOros2_control_node[2026-06-10 16:44:19.339] [info] Received new action goal ×2 + 11.00sINFOros2_control_node[2026-06-10 16:44:19.339] [info] Accepted new action goal ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642110 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642110 ms (missed cycles : 2).[0m ×2 + 11.91sWARNcontroller_managerOverrun might occur, Total time : 2879.214 us (Expected < 1666.667 us) --> Read time : 114.224 us, Update time : 36.812 us, Write time : 2728.178 us + 11.91sWARNros2_control_nodeOverrun might occur, Total time : 2879.214 us (Expected < 1666.667 us) --> Read time : 114.224 us, Update time : 36.812 us, Write time : 2728.178 us[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.935516 ms (missed cycles : 9). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.935516 ms (missed cycles : 9).[0m ×2 + 13.14sWARNcontroller_managerOverrun might occur, Total time : 1749.270 us (Expected < 1666.667 us) --> Read time : 76.942 us, Update time : 72.852 us, Write time : 1599.476 us + 13.15sWARNros2_control_nodeOverrun might occur, Total time : 1749.270 us (Expected < 1666.667 us) --> Read time : 76.942 us, Update time : 72.852 us, Write time : 1599.476 us[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292646 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292646 ms (missed cycles : 2).[0m ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.917797 ms (missed cycles : 6). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.917797 ms (missed cycles : 6).[0m ×2 + 14.60sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1781109862.94468975 seconds ×3 + 15.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781109863.56878901 seconds. ×3 + 15.23sWARNcontroller_managerOverrun might occur, Total time : 2299.165 us (Expected < 1666.667 us) --> Read time : 174.205 us, Update time : 1808.921 us, Write time : 316.039 us + 15.24sWARNros2_control_nodeOverrun might occur, Total time : 2299.165 us (Expected < 1666.667 us) --> Read time : 174.205 us, Update time : 1808.921 us, Write time : 316.039 us[0m ×2 + 15.37sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 15.37sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.38sINFOros2_control_node[2026-06-10 16:44:23.722] [info] Received new action goal ×2 + 15.38sINFOros2_control_node[2026-06-10 16:44:23.722] [info] Accepted new action goal ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151144 ms (missed cycles : 2). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151144 ms (missed cycles : 2).[0m ×2 + 15.61sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 15.62sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058231 ms (missed cycles : 3). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058231 ms (missed cycles : 3).[0m ×2 + 16.65sINFOobjective_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 + 16.65sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327186 ms (missed cycles : 3). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327186 ms (missed cycles : 3).[0m ×2 + 17.61sWARNcontroller_managerOverrun might occur, Total time : 1941.506 us (Expected < 1666.667 us) --> Read time : 139.624 us, Update time : 1510.363 us, Write time : 291.519 us + 17.61sWARNros2_control_nodeOverrun might occur, Total time : 1941.506 us (Expected < 1666.667 us) --> Read time : 139.624 us, Update time : 1510.363 us, Write time : 291.519 us[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 87 warnings · 153 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987153 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987153 ms (missed cycles : 6).[0m ×2 + 0.54sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×3 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 5314.289 us (Expected < 1666.667 us) --> Read time : 102.262 us, Update time : 4795.255 us, Write time : 416.772 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 5314.289 us (Expected < 1666.667 us) --> Read time : 102.262 us, Update time : 4795.255 us, Write time : 416.772 us[0m ×2 + 0.81sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.81sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.82sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.82sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×3 + 0.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1781109769.34590149 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327908 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327908 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.876474 ms (missed cycles : 12). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.876474 ms (missed cycles : 12).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.700343 ms (missed cycles : 7). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.700343 ms (missed cycles : 7).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1781109771.85025811 seconds. ×3 + 3.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.55sINFOros2_control_node[2026-06-10 16:42:52.053] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-06-10 16:42:52.053] [info] Accepted new action goal ×2 + 3.78sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.78sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1788.611 us (Expected < 1666.667 us) --> Read time : 136.354 us, Update time : 1321.058 us, Write time : 331.199 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1788.611 us (Expected < 1666.667 us) --> Read time : 136.354 us, Update time : 1321.058 us, Write time : 331.199 us[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922842 ms (missed cycles : 6). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922842 ms (missed cycles : 6).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728692 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728692 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun might occur, Total time : 8415.079 us (Expected < 1666.667 us) --> Read time : 97.293 us, Update time : 7833.592 us, Write time : 484.194 us + 5.37sWARNros2_control_nodeOverrun might occur, Total time : 8415.079 us (Expected < 1666.667 us) --> Read time : 97.293 us, Update time : 7833.592 us, Write time : 484.194 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984740 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984740 ms (missed cycles : 3).[0m ×2 + 6.57sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures" + 6.57sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures"[0m ×2 + 6.71sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.18% of iterations over budget over 1:10.002 of wall time (39/21673). Below 1% is expected on a non-realtime system.[0m ×2 + 6.74sWARNcontroller_managerOverrun might occur, Total time : 2885.092 us (Expected < 1666.667 us) --> Read time : 163.675 us, Update time : 41.921 us, Write time : 2679.496 us + 6.74sWARNros2_control_nodeOverrun might occur, Total time : 2885.092 us (Expected < 1666.667 us) --> Read time : 163.675 us, Update time : 41.921 us, Write time : 2679.496 us[0m ×2 + 7.08sINFOfoxglove_bridgeRemoving channel 72 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 7.08sINFOfoxglove_bridgeRemoving channel 72 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686212 ms (missed cycles : 4). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686212 ms (missed cycles : 4).[0m ×2 + 7.85sWARNcontroller_managerOverrun might occur, Total time : 3603.372 us (Expected < 1666.667 us) --> Read time : 145.794 us, Update time : 3053.706 us, Write time : 403.872 us + 7.85sWARNros2_control_nodeOverrun might occur, Total time : 3603.372 us (Expected < 1666.667 us) --> Read time : 145.794 us, Update time : 3053.706 us, Write time : 403.872 us[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509010 ms (missed cycles : 3). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509010 ms (missed cycles : 3).[0m ×2 + 8.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.42sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 8.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (1e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). ×4 + 8.71sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 8.75sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.76sINFOobjective_server_nodeFound path in 5 iterations (0.00376524 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 8.83sINFOobjective_server_nodeFound path in 1 iterations (0.00312517 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 8.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 8.92sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution" + 8.92sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m ×2 + 9.00sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.03sINFOros2_control_node[2026-06-10 16:42:57.537] [info] Received new action goal ×2 + 9.03sINFOros2_control_node[2026-06-10 16:42:57.537] [info] Accepted new action goal ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.349892 ms (missed cycles : 8). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.349892 ms (missed cycles : 8).[0m ×2 + 10.04sWARNcontroller_managerOverrun might occur, Total time : 5285.259 us (Expected < 1666.667 us) --> Read time : 154.154 us, Update time : 4731.394 us, Write time : 399.711 us + 10.04sWARNros2_control_nodeOverrun might occur, Total time : 5285.259 us (Expected < 1666.667 us) --> Read time : 154.154 us, Update time : 4731.394 us, Write time : 399.711 us[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.850076 ms (missed cycles : 6). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.850076 ms (missed cycles : 6).[0m ×2 + 11.11sWARNcontroller_managerOverrun might occur, Total time : 4506.578 us (Expected < 1666.667 us) --> Read time : 159.095 us, Update time : 3858.889 us, Write time : 488.594 us + 11.11sWARNros2_control_nodeOverrun might occur, Total time : 4506.578 us (Expected < 1666.667 us) --> Read time : 159.095 us, Update time : 3858.889 us, Write time : 488.594 us[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.558997 ms (missed cycles : 7). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.558997 ms (missed cycles : 7).[0m ×2 + 11.47sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 11.47sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.47sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.48sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 11.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 11.54sINFOobjective_server_nodeFound path in 5 iterations (0.0057877 s). ×2 + 11.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 11.60sINFOros2_control_node[2026-06-10 16:43:00.106] [info] Received new action goal ×2 + 11.60sINFOros2_control_node[2026-06-10 16:43:00.106] [info] Accepted new action goal ×2 + 12.00sINFOros2_control_node[2026-06-10 16:43:00.498] [info] Received new action goal ×2 + 12.00sINFOros2_control_node[2026-06-10 16:43:00.498] [info] Accepted new action goal ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798786 ms (missed cycles : 4). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798786 ms (missed cycles : 4).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133993 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133993 ms (missed cycles : 2).[0m ×2 + 13.44sWARNcontroller_managerOverrun might occur, Total time : 2774.379 us (Expected < 1666.667 us) --> Read time : 92.883 us, Update time : 2362.047 us, Write time : 319.449 us + 13.44sWARNros2_control_nodeOverrun might occur, Total time : 2774.379 us (Expected < 1666.667 us) --> Read time : 92.883 us, Update time : 2362.047 us, Write time : 319.449 us[0m ×2 + 13.88sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.88sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.88sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1781109782.38506460 seconds ×3 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813746 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813746 ms (missed cycles : 3).[0m ×2 + 14.50sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1781109782.99896932 seconds. ×3 + 14.53sWARNcontroller_managerOverrun might occur, Total time : 3237.182 us (Expected < 1666.667 us) --> Read time : 102.113 us, Update time : 45.871 us, Write time : 3089.198 us + 14.53sWARNros2_control_nodeOverrun might occur, Total time : 3237.182 us (Expected < 1666.667 us) --> Read time : 102.113 us, Update time : 45.871 us, Write time : 3089.198 us[0m ×2 + 14.64sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 14.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.65sINFOros2_control_node[2026-06-10 16:43:03.156] [info] Received new action goal ×2 + 14.65sINFOros2_control_node[2026-06-10 16:43:03.156] [info] Accepted new action goal ×2 + 14.89sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.89sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.90sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.90sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.965395 ms (missed cycles : 6). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.965395 ms (missed cycles : 6).[0m ×2 + 16.00sWARNcontroller_managerOverrun might occur, Total time : 3567.611 us (Expected < 1666.667 us) --> Read time : 139.304 us, Update time : 3074.127 us, Write time : 354.180 us + 16.00sWARNros2_control_nodeOverrun might occur, Total time : 3567.611 us (Expected < 1666.667 us) --> Read time : 139.304 us, Update time : 3074.127 us, Write time : 354.180 us[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946896 ms (missed cycles : 3). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946896 ms (missed cycles : 3).[0m ×2 + 17.02sINFOros2_control_node[2026-06-10 16:43:05.524] [info] Received new action goal ×2 + 17.02sINFOros2_control_node[2026-06-10 16:43:05.524] [info] Accepted new action goal ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621048 ms (missed cycles : 4). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621048 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.1s | 3 errors · 96 warnings · 98 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895087 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895087 ms (missed cycles : 3).[0m ×2 + 0.88sWARNcontroller_managerOverrun might occur, Total time : 2364.806 us (Expected < 1666.667 us) --> Read time : 102.452 us, Update time : 1961.266 us, Write time : 301.088 us + 0.88sWARNros2_control_nodeOverrun might occur, Total time : 2364.806 us (Expected < 1666.667 us) --> Read time : 102.452 us, Update time : 1961.266 us, Write time : 301.088 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088482 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088482 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402347 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402347 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 3752.057 us (Expected < 1666.667 us) --> Read time : 137.454 us, Update time : 3145.170 us, Write time : 469.433 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 3752.057 us (Expected < 1666.667 us) --> Read time : 137.454 us, Update time : 3145.170 us, Write time : 469.433 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567814 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567814 ms (missed cycles : 6).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1781109975.79831886 seconds ×3 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1747.439 us (Expected < 1666.667 us) --> Read time : 151.044 us, Update time : 70.812 us, Write time : 1525.583 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 1747.439 us (Expected < 1666.667 us) --> Read time : 151.044 us, Update time : 70.812 us, Write time : 1525.583 us[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1781109976.37805462 seconds. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846153 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846153 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.13sINFOros2_control_node[2026-06-10 16:46:16.482] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-06-10 16:46:16.482] [info] Accepted new action goal ×2 + 4.46sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/preview_solution" + 4.46sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/preview_solution"[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457257 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457257 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun might occur, Total time : 2865.472 us (Expected < 1666.667 us) --> Read time : 128.254 us, Update time : 49.041 us, Write time : 2688.177 us + 5.43sWARNros2_control_nodeOverrun might occur, Total time : 2865.472 us (Expected < 1666.667 us) --> Read time : 128.254 us, Update time : 49.041 us, Write time : 2688.177 us[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163600 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163600 ms (missed cycles : 3).[0m ×2 + 6.92sWARNcontroller_managerOverrun might occur, Total time : 7284.130 us (Expected < 1666.667 us) --> Read time : 123.094 us, Update time : 6769.424 us, Write time : 391.612 us + 6.92sWARNros2_control_nodeOverrun might occur, Total time : 7284.130 us (Expected < 1666.667 us) --> Read time : 123.094 us, Update time : 6769.424 us, Write time : 391.612 us[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.753077 ms (missed cycles : 7). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.753077 ms (missed cycles : 7).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387890 ms (missed cycles : 5). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387890 ms (missed cycles : 5).[0m ×2 + 8.78sWARNcontroller_managerOverrun might occur, Total time : 2603.615 us (Expected < 1666.667 us) --> Read time : 153.585 us, Update time : 2121.371 us, Write time : 328.659 us + 8.78sWARNros2_control_nodeOverrun might occur, Total time : 2603.615 us (Expected < 1666.667 us) --> Read time : 153.585 us, Update time : 2121.371 us, Write time : 328.659 us[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.992429 ms (missed cycles : 6). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.992429 ms (missed cycles : 6).[0m ×2 + 10.18sWARNcontroller_managerOverrun might occur, Total time : 1738.111 us (Expected < 1666.667 us) --> Read time : 133.024 us, Update time : 1283.697 us, Write time : 321.390 us + 10.18sWARNros2_control_nodeOverrun might occur, Total time : 1738.111 us (Expected < 1666.667 us) --> Read time : 133.024 us, Update time : 1283.697 us, Write time : 321.390 us[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810975 ms (missed cycles : 4). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810975 ms (missed cycles : 4).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754770 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754770 ms (missed cycles : 3).[0m ×2 + 11.72sWARNcontroller_managerOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us + 11.72sWARNros2_control_nodeOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7).[0m ×2 + 12.88sWARNcontroller_managerOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us + 12.88sWARNros2_control_nodeOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6).[0m ×2 + 14.06sWARNcontroller_managerOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us + 14.06sWARNros2_control_nodeOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us[0m ×2 + 14.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781109986.87827063 seconds ×3 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3).[0m ×2 + 15.08sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781109987.43101954 seconds. ×3 + 15.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 15.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 15.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.15sWARNcontroller_managerOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us + 15.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.16sWARNros2_control_nodeOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us[0m ×2 + 15.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781109987.52135849 seconds ×3 + 15.32sWARNcontroller_managerOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us + 15.32sWARNros2_control_nodeOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us[0m ×2 + 15.54sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 15.54sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.73sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781109988.08435297 seconds. ×3 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2).[0m ×2 + 15.76sINFOobjective_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 + 15.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781109988.11632943 seconds ×3 + 16.37sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781109988.72602963 seconds. ×3 + 16.43sWARNcontroller_managerOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us + 16.43sWARNros2_control_nodeOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us[0m ×2 + 16.46sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 16.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.48sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Received new action goal ×2 + 16.48sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Accepted new action goal ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3).[0m ×2 + 17.62sWARNcontroller_managerOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us + 17.62sWARNros2_control_nodeOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us[0m ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.1s | 3 errors · 81 warnings · 67 info |
+ 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2).[0m ×2 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us[0m ×2 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1781109954.02992749 seconds ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781109954.89653778 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Accepted new action goal ×2 + 4.12sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.30% of iterations over budget over 4:10.003 of wall time (228/77214). Below 1% is expected on a non-realtime system.[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.313127 ms (missed cycles : 8). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.313127 ms (missed cycles : 8).[0m ×2 + 7.95sWARNcontroller_managerOverrun might occur, Total time : 4687.164 us (Expected < 1666.667 us) --> Read time : 159.394 us, Update time : 4128.608 us, Write time : 399.162 us + 7.95sWARNros2_control_nodeOverrun might occur, Total time : 4687.164 us (Expected < 1666.667 us) --> Read time : 159.394 us, Update time : 4128.608 us, Write time : 399.162 us[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669556 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669556 ms (missed cycles : 2).[0m ×2 + 9.15sWARNcontroller_managerOverrun might occur, Total time : 2112.259 us (Expected < 1666.667 us) --> Read time : 189.225 us, Update time : 1438.171 us, Write time : 484.863 us + 9.16sWARNros2_control_nodeOverrun might occur, Total time : 2112.259 us (Expected < 1666.667 us) --> Read time : 189.225 us, Update time : 1438.171 us, Write time : 484.863 us[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072488 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072488 ms (missed cycles : 3).[0m ×2 + 10.53sWARNcontroller_managerOverrun might occur, Total time : 5404.675 us (Expected < 1666.667 us) --> Read time : 89.153 us, Update time : 4870.289 us, Write time : 445.233 us + 10.54sWARNros2_control_nodeOverrun might occur, Total time : 5404.675 us (Expected < 1666.667 us) --> Read time : 89.153 us, Update time : 4870.289 us, Write time : 445.233 us[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039297 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039297 ms (missed cycles : 2).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444954 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444954 ms (missed cycles : 3).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276903 ms (missed cycles : 3). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276903 ms (missed cycles : 3).[0m ×2 + 13.72sWARNcontroller_managerOverrun might occur, Total time : 1753.120 us (Expected < 1666.667 us) --> Read time : 162.974 us, Update time : 1311.648 us, Write time : 278.498 us + 13.72sWARNros2_control_nodeOverrun might occur, Total time : 1753.120 us (Expected < 1666.667 us) --> Read time : 162.974 us, Update time : 1311.648 us, Write time : 278.498 us[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464639 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464639 ms (missed cycles : 2).[0m ×2 + 14.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1781109965.38689661 seconds ×3 + 14.81sWARNcontroller_managerOverrun might occur, Total time : 5873.388 us (Expected < 1666.667 us) --> Read time : 210.766 us, Update time : 5195.649 us, Write time : 466.973 us + 14.82sWARNros2_control_nodeOverrun might occur, Total time : 5873.388 us (Expected < 1666.667 us) --> Read time : 210.766 us, Update time : 5195.649 us, Write time : 466.973 us[0m ×2 + 14.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1781109965.95421314 seconds. ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024141 ms (missed cycles : 3). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024141 ms (missed cycles : 3).[0m ×2 + 15.06sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 15.07sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.09sINFOros2_control_node[2026-06-10 16:46:06.185] [info] Received new action goal ×2 + 15.09sINFOros2_control_node[2026-06-10 16:46:06.185] [info] Accepted new action goal ×2 + 15.30sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 15.30sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008562 ms (missed cycles : 6). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008562 ms (missed cycles : 6).[0m ×2 + 16.74sWARNcontroller_managerOverrun might occur, Total time : 5692.613 us (Expected < 1666.667 us) --> Read time : 177.245 us, Update time : 4949.892 us, Write time : 565.476 us + 16.74sWARNros2_control_nodeOverrun might occur, Total time : 5692.613 us (Expected < 1666.667 us) --> Read time : 177.245 us, Update time : 4949.892 us, Write time : 565.476 us[0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017649 ms (missed cycles : 3). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017649 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.0s | 47 errors · 62 warnings · 266 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us[0m ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3).[0m ×2 + 0.42sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Got request to cancel active goal. ×2 + 0.42sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Canceling active goal... ×2 + 0.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781109998.80474329 seconds ×3 + 0.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.44sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781109999.36629558 seconds. ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2).[0m ×2 + 1.45sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 1.45sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781110000.14651370 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us + 2.18sWARNros2_control_nodeOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781110000.68956804 seconds. ×3 + 2.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.31sINFOobjective_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 + 2.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781110000.69099307 seconds ×3 + 2.45sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.45sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 2.45sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.45sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781110001.23769712 seconds. ×3 + 2.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781110001.23818445 seconds ×3 + 2.96sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 2.96sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781110001.93789792 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249806 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249806 ms (missed cycles : 4).[0m ×2 + 4.48sINFOfoxglove_bridgeAdvertising new channel 90 for topic "/pcd_pointcloud_captures" + 4.48sINFOfoxglove_bridgeAdvertising new channel 90 for topic "/pcd_pointcloud_captures"[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781110003.05804062 seconds ×3 + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4014.684 us (Expected < 1666.667 us) --> Read time : 147.185 us, Update time : 3496.068 us, Write time : 371.431 us + 4.71sWARNros2_control_nodeOverrun might occur, Total time : 4014.684 us (Expected < 1666.667 us) --> Read time : 147.185 us, Update time : 3496.068 us, Write time : 371.431 us[0m ×2 + 4.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.99sINFOfoxglove_bridgeRemoving channel 90 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.127515 ms (missed cycles : 6). + 5.31sINFOfoxglove_bridgeRemoving channel 90 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.127515 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1912.504 us (Expected < 1666.667 us) --> Read time : 151.914 us, Update time : 57.292 us, Write time : 1703.298 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 1912.504 us (Expected < 1666.667 us) --> Read time : 151.914 us, Update time : 57.292 us, Write time : 1703.298 us[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.779298 ms (missed cycles : 7). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.779298 ms (missed cycles : 7).[0m ×2 + 7.18sWARNcontroller_managerOverrun might occur, Total time : 2857.130 us (Expected < 1666.667 us) --> Read time : 2403.917 us, Update time : 157.365 us, Write time : 295.848 us + 7.18sWARNros2_control_nodeOverrun might occur, Total time : 2857.130 us (Expected < 1666.667 us) --> Read time : 2403.917 us, Update time : 157.365 us, Write time : 295.848 us[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350914 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350914 ms (missed cycles : 3).[0m ×2 + 8.18sWARNcontroller_managerOverrun might occur, Total time : 3110.438 us (Expected < 1666.667 us) --> Read time : 124.864 us, Update time : 2615.204 us, Write time : 370.370 us + 8.18sWARNros2_control_nodeOverrun might occur, Total time : 3110.438 us (Expected < 1666.667 us) --> Read time : 124.864 us, Update time : 2615.204 us, Write time : 370.370 us[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217969 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217969 ms (missed cycles : 2).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454381 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454381 ms (missed cycles : 3).[0m ×2 + 9.35sWARNcontroller_managerOverrun might occur, Total time : 2071.428 us (Expected < 1666.667 us) --> Read time : 94.812 us, Update time : 1587.245 us, Write time : 389.371 us + 9.35sWARNros2_control_nodeOverrun might occur, Total time : 2071.428 us (Expected < 1666.667 us) --> Read time : 94.812 us, Update time : 1587.245 us, Write time : 389.371 us[0m ×2 + 10.31sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] ×2 + 10.34sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] ×2 + 10.35sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] ×2 + 10.36sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] ×2 + 10.37sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] ×2 + 10.37sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.38sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376836 ms (missed cycles : 2). + 10.39sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.39sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.41sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.41sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.42sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.43sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.43sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.43sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.43sINFOfoxglove_bridgeShutting down foxglove_bridge[0m ×2 + 10.44sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.44sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.44sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.44sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.44sINFOui_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 + 10.44sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.44sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.44sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.44sINFOcontroller_managerShutdown request received.... + 10.44sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.44sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.44sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.44sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.44sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.44sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.44sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.44sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.44sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.44sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.44sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.44sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.44sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.44sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.44sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.44sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.44sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.44sINFOcontroller_managerShutting down the controller manager. + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376836 ms (missed cycles : 2).[0m ×2 + 10.44sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.44sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.44sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.44sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.44sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.44sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.44sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.44sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.44sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.44sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 10.50sINFOobjective_server_node[0;m[2026-06-10 16:46:48.879] [moveit_pro_license] [info] ×2 + 10.50sINFOobjective_server_node************************************************* ×4 + 10.50sINFOobjective_server_node* MoveIt Pro License ×2 + 10.50sINFOobjective_server_node* Application has successfully terminated ×2 + 10.56sINFOweb_video_server-20process has finished cleanly [pid 9992] ×2 + 10.57sINFOtf2_web_republisher_node-19process has finished cleanly [pid 9882] ×2 + 10.57sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system ×2 + 10.57sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.61sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.61sINFOros2_control_nodepublish_async_failures_ 3[0m ×4 + 10.61sERRORui_teleop_bridge-17process has died [pid 9880, 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_2zq5g5no']. ×2 + 10.61sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.62sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9876] ×2 + 10.62sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9875] ×2 + 10.63sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.63sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560a48c5f6a4, in _start ×2 + 10.63sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd53070528a, in __libc_start_main ×2 + 10.63sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd5307051d0, in ×2 + 10.63sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd530722bbd, in exit ×2 + 10.63sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd530722a75, in ×2 + 10.63sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fd530bf44a2, in spdlog::details::registry::~registry() ×2 + 10.63sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fd530bff69d, 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 + 10.63sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fd530bf9965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.63sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560a48c66315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.63sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560a48c655a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.63sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560a48c61b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.63sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560a48c5fd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.63sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd531277454, in rclcpp::Node::~Node() ×2 + 10.63sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd531232515, in ×2 + 10.63sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd531275d20, in ×2 + 10.63sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd531275c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.63sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd5312325d9, in ×2 + 10.63sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd531237161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.63sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fd4dd825a88]) ×2 + 10.63sINFOparameter_manager_node-10process has finished cleanly [pid 9873] ×2 + 10.64sINFOwaypoint_manager_node-11process has finished cleanly [pid 9874] ×2 + 10.67sINFOexecute_objective_bridge-16process has finished cleanly [pid 9879] ×2 + 10.84sINFOfoxglove_bridgeShutdown complete[0m ×2 + 11.30sERRORobjective_server_node_main-14process has died [pid 9877, 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_2uviadc7 --params-file /tmp/launch_params_lr40e_4_ --params-file /tmp/launch_params_dwuflgfu --params-file /tmp/launch_params_mbpbno1q --params-file /tmp/launch_params_byis6olf --params-file /tmp/launch_params_8k7b9b34']. ×2 + 11.30sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.57sINFOcomponent_container_mt-15process has finished cleanly [pid 9878] ×2 + 11.60sINFOmove_group-9process has finished cleanly [pid 9872] ×2 + 12.60sINFOros2_control_node-1process has finished cleanly [pid 9846] ×2 + 12.82sINFOfoxglove_bridge-18process has finished cleanly [pid 9881] ×2 + 12.82sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 96 warnings · 181 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.24sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.24sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×14 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 2.98sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 3.65sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 4.91sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.00sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×4 + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.14sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.14sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725759 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725759 ms (missed cycles : 2).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.945148 ms (missed cycles : 6). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.945148 ms (missed cycles : 6).[0m ×2 + 8.38sWARNcontroller_managerOverrun might occur, Total time : 3188.642 us (Expected < 1666.667 us) --> Read time : 147.384 us, Update time : 2610.055 us, Write time : 431.203 us + 8.38sWARNros2_control_nodeOverrun might occur, Total time : 3188.642 us (Expected < 1666.667 us) --> Read time : 147.384 us, Update time : 2610.055 us, Write time : 431.203 us[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364654 ms (missed cycles : 3). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364654 ms (missed cycles : 3).[0m ×2 + 9.55sWARNcontroller_managerOverrun might occur, Total time : 3539.951 us (Expected < 1666.667 us) --> Read time : 108.403 us, Update time : 3068.727 us, Write time : 362.821 us + 9.56sWARNros2_control_nodeOverrun might occur, Total time : 3539.951 us (Expected < 1666.667 us) --> Read time : 108.403 us, Update time : 3068.727 us, Write time : 362.821 us[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994143 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994143 ms (missed cycles : 3).[0m ×2 + 9.86sINFOros2_control_node[2026-06-10 16:41:59.762] [info] Received new action goal ×2 + 9.86sINFOros2_control_node[2026-06-10 16:41:59.762] [info] Accepted new action goal ×2 + 10.62sWARNcontroller_managerOverrun might occur, Total time : 3607.293 us (Expected < 1666.667 us) --> Read time : 125.673 us, Update time : 3064.418 us, Write time : 417.202 us + 10.62sWARNros2_control_nodeOverrun might occur, Total time : 3607.293 us (Expected < 1666.667 us) --> Read time : 125.673 us, Update time : 3064.418 us, Write time : 417.202 us[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585266 ms (missed cycles : 4). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585266 ms (missed cycles : 4).[0m ×2 + 11.78sWARNcontroller_managerOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us + 11.78sWARNros2_control_nodeOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7).[0m ×2 + 12.98sWARNcontroller_managerOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us + 12.99sWARNros2_control_nodeOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us[0m ×2 + 13.16sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 13.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.17sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Received new action goal ×2 + 13.17sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Accepted new action goal ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6).[0m ×2 + 13.99sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Got request to cancel active goal. ×2 + 13.99sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Canceling active goal... ×2 + 14.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781109723.90850830 seconds ×3 + 14.46sWARNcontroller_managerOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us + 14.47sWARNros2_control_nodeOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us[0m ×2 + 14.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781109724.47178173 seconds. ×3 + 14.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781109724.59191728 seconds ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3).[0m ×2 + 15.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781109725.22173405 seconds. ×3 + 15.53sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 15.53sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 15.64sWARNcontroller_managerOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us + 15.65sWARNros2_control_nodeOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us[0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2).[0m ×2 + 16.46sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 16.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.47sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Received new action goal ×2 + 16.47sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Accepted new action goal ×2 + 16.67sWARNcontroller_managerOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us + 16.67sWARNros2_control_nodeOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7).[0m ×2 + 17.94sWARNcontroller_managerOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us + 17.94sWARNros2_control_nodeOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 90 warnings · 132 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289471 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289471 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun might occur, Total time : 1733.989 us (Expected < 1666.667 us) --> Read time : 146.084 us, Update time : 1272.066 us, Write time : 315.839 us + 6.24sWARNros2_control_nodeOverrun might occur, Total time : 1733.989 us (Expected < 1666.667 us) --> Read time : 146.084 us, Update time : 1272.066 us, Write time : 315.839 us[0m ×2 + 6.43sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures" + 6.43sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/pcd_pointcloud_captures"[0m ×2 + 6.94sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.94sINFOfoxglove_bridgeRemoving channel 70 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730252 ms (missed cycles : 4). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730252 ms (missed cycles : 4).[0m ×2 + 7.34sWARNcontroller_managerOverrun might occur, Total time : 3578.081 us (Expected < 1666.667 us) --> Read time : 127.353 us, Update time : 3089.608 us, Write time : 361.120 us + 7.34sWARNros2_control_nodeOverrun might occur, Total time : 3578.081 us (Expected < 1666.667 us) --> Read time : 127.353 us, Update time : 3089.608 us, Write time : 361.120 us[0m ×2 + 8.23sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.23sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.23sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114172 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114172 ms (missed cycles : 3).[0m ×2 + 8.35sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.35sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.36sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 8.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 5 iterations (0.00268224 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 1 iterations (0.00224873 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 8.59sWARNcontroller_managerOverrun might occur, Total time : 3975.333 us (Expected < 1666.667 us) --> Read time : 114.324 us, Update time : 3336.894 us, Write time : 524.115 us + 8.59sWARNros2_control_nodeOverrun might occur, Total time : 3975.333 us (Expected < 1666.667 us) --> Read time : 114.324 us, Update time : 3336.894 us, Write time : 524.115 us[0m ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.74sINFOros2_control_node[2026-06-10 16:42:46.869] [info] Received new action goal ×2 + 8.74sINFOros2_control_node[2026-06-10 16:42:46.869] [info] Accepted new action goal ×2 + 8.74sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution" + 8.74sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/solution"[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991083 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991083 ms (missed cycles : 2).[0m ×2 + 9.83sWARNcontroller_managerOverrun might occur, Total time : 1810.540 us (Expected < 1666.667 us) --> Read time : 1459.481 us, Update time : 66.231 us, Write time : 284.828 us + 9.83sWARNros2_control_nodeOverrun might occur, Total time : 1810.540 us (Expected < 1666.667 us) --> Read time : 1459.481 us, Update time : 66.231 us, Write time : 284.828 us[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987153 ms (missed cycles : 6). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987153 ms (missed cycles : 6).[0m ×2 + 10.91sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×3 + 10.94sWARNcontroller_managerOverrun might occur, Total time : 5314.289 us (Expected < 1666.667 us) --> Read time : 102.262 us, Update time : 4795.255 us, Write time : 416.772 us + 10.94sWARNros2_control_nodeOverrun might occur, Total time : 5314.289 us (Expected < 1666.667 us) --> Read time : 102.262 us, Update time : 4795.255 us, Write time : 416.772 us[0m ×2 + 11.18sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.18sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.19sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.19sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×3 + 11.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1781109769.34590149 seconds ×3 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327908 ms (missed cycles : 4). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327908 ms (missed cycles : 4).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.876474 ms (missed cycles : 12). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.876474 ms (missed cycles : 12).[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.700343 ms (missed cycles : 7). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.700343 ms (missed cycles : 7).[0m ×2 + 13.72sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1781109771.85025811 seconds. ×3 + 13.91sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 13.92sINFOros2_control_node[2026-06-10 16:42:52.053] [info] Received new action goal ×2 + 13.92sINFOros2_control_node[2026-06-10 16:42:52.053] [info] Accepted new action goal ×2 + 14.15sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.15sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.15sINFOfoxglove_bridgeRemoving channel 71 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.15sINFOfoxglove_bridgeRemoving channel 68 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.36sWARNcontroller_managerOverrun might occur, Total time : 1788.611 us (Expected < 1666.667 us) --> Read time : 136.354 us, Update time : 1321.058 us, Write time : 331.199 us + 14.36sWARNros2_control_nodeOverrun might occur, Total time : 1788.611 us (Expected < 1666.667 us) --> Read time : 136.354 us, Update time : 1321.058 us, Write time : 331.199 us[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922842 ms (missed cycles : 6). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922842 ms (missed cycles : 6).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728692 ms (missed cycles : 3). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728692 ms (missed cycles : 3).[0m ×2 + 15.74sWARNcontroller_managerOverrun might occur, Total time : 8415.079 us (Expected < 1666.667 us) --> Read time : 97.293 us, Update time : 7833.592 us, Write time : 484.194 us + 15.74sWARNros2_control_nodeOverrun might occur, Total time : 8415.079 us (Expected < 1666.667 us) --> Read time : 97.293 us, Update time : 7833.592 us, Write time : 484.194 us[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984740 ms (missed cycles : 3). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984740 ms (missed cycles : 3).[0m ×2 + 16.94sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures" + 16.94sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/pcd_pointcloud_captures"[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 93 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851219 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851219 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.708163 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.708163 ms (missed cycles : 7).[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 5453.436 us (Expected < 1666.667 us) --> Read time : 191.145 us, Update time : 4749.796 us, Write time : 512.495 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 5453.436 us (Expected < 1666.667 us) --> Read time : 191.145 us, Update time : 4749.796 us, Write time : 512.495 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699087 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699087 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 1757.751 us (Expected < 1666.667 us) --> Read time : 123.334 us, Update time : 1279.346 us, Write time : 355.071 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1757.751 us (Expected < 1666.667 us) --> Read time : 123.334 us, Update time : 1279.346 us, Write time : 355.071 us[0m ×2 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155152 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155152 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781109943.44279742 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 5476.826 us (Expected < 1666.667 us) --> Read time : 127.604 us, Update time : 4976.972 us, Write time : 372.250 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 5476.826 us (Expected < 1666.667 us) --> Read time : 127.604 us, Update time : 4976.972 us, Write time : 372.250 us[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781109944.16975951 seconds. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.15sINFOros2_control_node[2026-06-10 16:45:44.384] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-06-10 16:45:44.384] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948425 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948425 ms (missed cycles : 2).[0m ×2 + 4.36sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.36sINFOfoxglove_bridgeRemoving channel 82 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.36sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution" + 4.36sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.36sINFOfoxglove_bridgeRemoving channel 82 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.36sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution"[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1981.937 us (Expected < 1666.667 us) --> Read time : 416.292 us, Update time : 60.612 us, Write time : 1505.033 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1981.937 us (Expected < 1666.667 us) --> Read time : 416.292 us, Update time : 60.612 us, Write time : 1505.033 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139465 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139465 ms (missed cycles : 7).[0m ×2 + 5.72sWARNcontroller_managerOverrun might occur, Total time : 2064.609 us (Expected < 1666.667 us) --> Read time : 108.874 us, Update time : 1686.858 us, Write time : 268.877 us + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 2064.609 us (Expected < 1666.667 us) --> Read time : 108.874 us, Update time : 1686.858 us, Write time : 268.877 us[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002919 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002919 ms (missed cycles : 3).[0m ×2 + 7.09sWARNcontroller_managerOverrun might occur, Total time : 1668.058 us (Expected < 1666.667 us) --> Read time : 181.175 us, Update time : 1218.485 us, Write time : 268.398 us + 7.09sWARNros2_control_nodeOverrun might occur, Total time : 1668.058 us (Expected < 1666.667 us) --> Read time : 181.175 us, Update time : 1218.485 us, Write time : 268.398 us[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677612 ms (missed cycles : 4). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677612 ms (missed cycles : 4).[0m ×2 + 8.11sWARNcontroller_managerOverrun might occur, Total time : 5364.314 us (Expected < 1666.667 us) --> Read time : 82.282 us, Update time : 4806.008 us, Write time : 476.024 us + 8.11sWARNros2_control_nodeOverrun might occur, Total time : 5364.314 us (Expected < 1666.667 us) --> Read time : 82.282 us, Update time : 4806.008 us, Write time : 476.024 us[0m ×2 + 8.24sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.24sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.25sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.27sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/solution" + 8.27sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/solution"[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129988 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129988 ms (missed cycles : 2).[0m ×2 + 8.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.51sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 8.52sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (1.6e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 5 iterations (0.0038915 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 8.62sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.65sINFOros2_control_node[2026-06-10 16:45:48.875] [info] Received new action goal ×2 + 8.65sINFOros2_control_node[2026-06-10 16:45:48.875] [info] Accepted new action goal ×2 + 9.16sWARNcontroller_managerOverrun might occur, Total time : 1687.058 us (Expected < 1666.667 us) --> Read time : 156.225 us, Update time : 79.612 us, Write time : 1451.221 us + 9.16sWARNros2_control_nodeOverrun might occur, Total time : 1687.058 us (Expected < 1666.667 us) --> Read time : 156.225 us, Update time : 79.612 us, Write time : 1451.221 us[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.987712 ms (missed cycles : 5). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.987712 ms (missed cycles : 5).[0m ×2 + 10.30sWARNcontroller_managerOverrun might occur, Total time : 7589.818 us (Expected < 1666.667 us) --> Read time : 88.063 us, Update time : 37.071 us, Write time : 7464.684 us + 10.30sWARNros2_control_nodeOverrun might occur, Total time : 7589.818 us (Expected < 1666.667 us) --> Read time : 88.063 us, Update time : 37.071 us, Write time : 7464.684 us[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102331 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102331 ms (missed cycles : 3).[0m ×2 + 10.87sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Received new action goal ×2 + 10.87sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Accepted new action goal ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us + 11.57sWARNros2_control_nodeOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2).[0m ×2 + 12.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.51sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Received new action goal ×2 + 12.51sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Accepted new action goal ×2 + 13.48sWARNcontroller_managerOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us + 13.48sWARNros2_control_nodeOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2).[0m ×2 + 13.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1781109954.02992749 seconds ×3 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3).[0m ×2 + 14.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781109954.89653778 seconds. ×3 + 14.81sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 14.82sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Received new action goal ×2 + 14.82sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Accepted new action goal ×2 + 14.98sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.30% of iterations over budget over 4:10.003 of wall time (228/77214). Below 1% is expected on a non-realtime system.[0m ×2 + 15.07sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 15.07sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 15.07sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.07sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 15.22sWARNcontroller_managerOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us + 15.22sWARNros2_control_nodeOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6).[0m ×2 + 16.28sWARNcontroller_managerOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us + 16.28sWARNros2_control_nodeOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3).[0m ×2 + 16.74sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 87 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us[0m ×2 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us + 1.63sWARNros2_control_nodeOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781109748.96190953 seconds ×3 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781109749.53998113 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781109749.62013960 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5).[0m ×2 + 3.31sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781109750.24371481 seconds. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Accepted new action goal ×2 + 3.81sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.81sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725872 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725872 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 10369.332 us (Expected < 1666.667 us) --> Read time : 155.134 us, Update time : 9728.115 us, Write time : 486.083 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 10369.332 us (Expected < 1666.667 us) --> Read time : 155.134 us, Update time : 9728.115 us, Write time : 486.083 us[0m ×2 + 7.01sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.02sINFOros2_control_node[2026-06-10 16:42:33.677] [info] Received new action goal ×2 + 7.02sINFOros2_control_node[2026-06-10 16:42:33.677] [info] Accepted new action goal ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760723 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760723 ms (missed cycles : 4).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795095 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795095 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun might occur, Total time : 1839.172 us (Expected < 1666.667 us) --> Read time : 124.854 us, Update time : 1404.759 us, Write time : 309.559 us + 8.77sWARNros2_control_nodeOverrun might occur, Total time : 1839.172 us (Expected < 1666.667 us) --> Read time : 124.854 us, Update time : 1404.759 us, Write time : 309.559 us[0m ×2 + 9.32sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.33sINFOros2_control_node[2026-06-10 16:42:35.995] [info] Received new action goal ×2 + 9.33sINFOros2_control_node[2026-06-10 16:42:35.995] [info] Accepted new action goal ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987321 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987321 ms (missed cycles : 3).[0m ×2 + 9.81sWARNcontroller_managerOverrun might occur, Total time : 1909.744 us (Expected < 1666.667 us) --> Read time : 236.177 us, Update time : 69.802 us, Write time : 1603.765 us + 9.81sWARNros2_control_nodeOverrun might occur, Total time : 1909.744 us (Expected < 1666.667 us) --> Read time : 236.177 us, Update time : 69.802 us, Write time : 1603.765 us[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.086610 ms (missed cycles : 6). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.086610 ms (missed cycles : 6).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 11.49sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 11.49sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 11.66sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 11.66sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 11.66sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 12.84sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 12.84sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 13.62sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 13.62sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 13.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 13.85sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 13.86sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 14.20sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 14.66sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 14.66sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 14.66sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 14.66sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 15.06sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 15.06sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 15.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.39sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 15.39sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 16.63sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.6s | 6 errors · 96 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6).[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us[0m ×2 + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781109986.87827063 seconds ×3 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781109987.43101954 seconds. ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sWARNcontroller_managerOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sWARNros2_control_nodeOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781109987.52135849 seconds ×3 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us + 2.81sWARNros2_control_nodeOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us[0m ×2 + 3.03sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.04sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781109988.08435297 seconds. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781109988.11632943 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781109988.72602963 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sWARNcontroller_managerOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.97sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043915 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043915 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 1682.168 us (Expected < 1666.667 us) --> Read time : 113.603 us, Update time : 67.822 us, Write time : 1500.743 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1682.168 us (Expected < 1666.667 us) --> Read time : 113.603 us, Update time : 67.822 us, Write time : 1500.743 us[0m ×2 + 7.26sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.27sINFOros2_control_node[2026-06-10 16:46:32.133] [info] Received new action goal ×2 + 7.27sINFOros2_control_node[2026-06-10 16:46:32.133] [info] Accepted new action goal ×2 + 7.27sINFOros2_control_node[2026-06-10 16:46:32.134] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523633 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523633 ms (missed cycles : 3).[0m ×2 + 7.65sWARNcontroller_managerOverrun might occur, Total time : 1712.509 us (Expected < 1666.667 us) --> Read time : 132.094 us, Update time : 1265.096 us, Write time : 315.319 us + 7.65sWARNros2_control_nodeOverrun might occur, Total time : 1712.509 us (Expected < 1666.667 us) --> Read time : 132.094 us, Update time : 1265.096 us, Write time : 315.319 us[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272885 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272885 ms (missed cycles : 3).[0m ×2 + 8.99sWARNcontroller_managerOverrun might occur, Total time : 3741.166 us (Expected < 1666.667 us) --> Read time : 112.893 us, Update time : 3202.271 us, Write time : 426.002 us + 9.00sWARNros2_control_nodeOverrun might occur, Total time : 3741.166 us (Expected < 1666.667 us) --> Read time : 112.893 us, Update time : 3202.271 us, Write time : 426.002 us[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699309 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699309 ms (missed cycles : 2).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.039057 ms (missed cycles : 12). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.039057 ms (missed cycles : 12).[0m ×2 + 11.20sWARNcontroller_managerOverrun might occur, Total time : 3589.353 us (Expected < 1666.667 us) --> Read time : 104.513 us, Update time : 3174.261 us, Write time : 310.579 us + 11.20sWARNros2_control_nodeOverrun might occur, Total time : 3589.353 us (Expected < 1666.667 us) --> Read time : 104.513 us, Update time : 3174.261 us, Write time : 310.579 us[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035283 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035283 ms (missed cycles : 2).[0m ×2 + 12.36sWARNcontroller_managerOverrun might occur, Total time : 3365.947 us (Expected < 1666.667 us) --> Read time : 102.473 us, Update time : 2912.153 us, Write time : 351.321 us + 12.36sWARNros2_control_nodeOverrun might occur, Total time : 3365.947 us (Expected < 1666.667 us) --> Read time : 102.473 us, Update time : 2912.153 us, Write time : 351.321 us[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849702 ms (missed cycles : 4). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849702 ms (missed cycles : 4).[0m ×2 + 13.51sWARNcontroller_managerOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us[0m ×2 + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3).[0m ×2 + 13.93sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Got request to cancel active goal. ×2 + 13.93sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Canceling active goal... ×2 + 13.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781109998.80474329 seconds ×3 + 14.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781109999.36629558 seconds. ×3 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2).[0m ×2 + 14.96sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 14.96sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 15.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781110000.14651370 seconds ×3 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2).[0m ×2 + 15.69sWARNcontroller_managerOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us + 15.69sWARNros2_control_nodeOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us[0m ×2 + 15.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781110000.68956804 seconds. ×3 + 15.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.83sINFOobjective_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 + 15.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781110000.69099307 seconds ×3 + 15.97sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 15.97sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 15.97sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 15.97sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 16.37sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781110001.23769712 seconds. ×3 + 16.37sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781110001.23818445 seconds ×3 + 16.47sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 16.47sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2).[0m ×2 + 16.84sWARNcontroller_managerOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us + 16.84sWARNros2_control_nodeOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us[0m ×2 + 17.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781110001.93789792 seconds. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 3 errors · 78 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444954 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444954 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276903 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276903 ms (missed cycles : 3).[0m ×2 + 1.81sWARNcontroller_managerOverrun might occur, Total time : 1753.120 us (Expected < 1666.667 us) --> Read time : 162.974 us, Update time : 1311.648 us, Write time : 278.498 us + 1.81sWARNros2_control_nodeOverrun might occur, Total time : 1753.120 us (Expected < 1666.667 us) --> Read time : 162.974 us, Update time : 1311.648 us, Write time : 278.498 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464639 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464639 ms (missed cycles : 2).[0m ×2 + 2.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1781109965.38689661 seconds ×3 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.91sWARNcontroller_managerOverrun might occur, Total time : 5873.388 us (Expected < 1666.667 us) --> Read time : 210.766 us, Update time : 5195.649 us, Write time : 466.973 us + 2.91sWARNros2_control_nodeOverrun might occur, Total time : 5873.388 us (Expected < 1666.667 us) --> Read time : 210.766 us, Update time : 5195.649 us, Write time : 466.973 us[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1781109965.95421314 seconds. ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024141 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024141 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.18sINFOros2_control_node[2026-06-10 16:46:06.185] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-06-10 16:46:06.185] [info] Accepted new action goal ×2 + 3.40sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.40sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008562 ms (missed cycles : 6). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008562 ms (missed cycles : 6).[0m ×2 + 4.83sWARNcontroller_managerOverrun might occur, Total time : 5692.613 us (Expected < 1666.667 us) --> Read time : 177.245 us, Update time : 4949.892 us, Write time : 565.476 us + 4.83sWARNros2_control_nodeOverrun might occur, Total time : 5692.613 us (Expected < 1666.667 us) --> Read time : 177.245 us, Update time : 4949.892 us, Write time : 565.476 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017649 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017649 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104863 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104863 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun might occur, Total time : 5627.911 us (Expected < 1666.667 us) --> Read time : 162.565 us, Update time : 5019.033 us, Write time : 446.313 us + 6.79sWARNros2_control_nodeOverrun might occur, Total time : 5627.911 us (Expected < 1666.667 us) --> Read time : 162.565 us, Update time : 5019.033 us, Write time : 446.313 us[0m ×2 + 7.21sINFOros2_control_node[2026-06-10 16:46:10.214] [info] Received new action goal ×2 + 7.21sINFOros2_control_node[2026-06-10 16:46:10.214] [info] Accepted new action goal ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190175 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190175 ms (missed cycles : 3).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086747 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086747 ms (missed cycles : 3).[0m ×2 + 8.61sWARNcontroller_managerOverrun might occur, Total time : 2606.844 us (Expected < 1666.667 us) --> Read time : 83.212 us, Update time : 2297.436 us, Write time : 226.196 us + 8.61sWARNros2_control_nodeOverrun might occur, Total time : 2606.844 us (Expected < 1666.667 us) --> Read time : 83.212 us, Update time : 2297.436 us, Write time : 226.196 us[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895087 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895087 ms (missed cycles : 3).[0m ×2 + 10.22sWARNcontroller_managerOverrun might occur, Total time : 2364.806 us (Expected < 1666.667 us) --> Read time : 102.452 us, Update time : 1961.266 us, Write time : 301.088 us + 10.22sWARNros2_control_nodeOverrun might occur, Total time : 2364.806 us (Expected < 1666.667 us) --> Read time : 102.452 us, Update time : 1961.266 us, Write time : 301.088 us[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088482 ms (missed cycles : 5). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088482 ms (missed cycles : 5).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402347 ms (missed cycles : 4). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402347 ms (missed cycles : 4).[0m ×2 + 11.51sWARNcontroller_managerOverrun might occur, Total time : 3752.057 us (Expected < 1666.667 us) --> Read time : 137.454 us, Update time : 3145.170 us, Write time : 469.433 us + 11.52sWARNros2_control_nodeOverrun might occur, Total time : 3752.057 us (Expected < 1666.667 us) --> Read time : 137.454 us, Update time : 3145.170 us, Write time : 469.433 us[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567814 ms (missed cycles : 6). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567814 ms (missed cycles : 6).[0m ×2 + 12.79sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1781109975.79831886 seconds ×3 + 12.82sWARNcontroller_managerOverrun might occur, Total time : 1747.439 us (Expected < 1666.667 us) --> Read time : 151.044 us, Update time : 70.812 us, Write time : 1525.583 us + 12.82sWARNros2_control_nodeOverrun might occur, Total time : 1747.439 us (Expected < 1666.667 us) --> Read time : 151.044 us, Update time : 70.812 us, Write time : 1525.583 us[0m ×2 + 13.37sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1781109976.37805462 seconds. ×3 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846153 ms (missed cycles : 4). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846153 ms (missed cycles : 4).[0m ×2 + 13.46sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 13.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.48sINFOros2_control_node[2026-06-10 16:46:16.482] [info] Received new action goal ×2 + 13.48sINFOros2_control_node[2026-06-10 16:46:16.482] [info] Accepted new action goal ×2 + 13.81sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/preview_solution" + 13.81sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/preview_solution"[0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457257 ms (missed cycles : 3). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457257 ms (missed cycles : 3).[0m ×2 + 14.77sWARNcontroller_managerOverrun might occur, Total time : 2865.472 us (Expected < 1666.667 us) --> Read time : 128.254 us, Update time : 49.041 us, Write time : 2688.177 us + 14.78sWARNros2_control_nodeOverrun might occur, Total time : 2865.472 us (Expected < 1666.667 us) --> Read time : 128.254 us, Update time : 49.041 us, Write time : 2688.177 us[0m ×2 + 15.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163600 ms (missed cycles : 3). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163600 ms (missed cycles : 3).[0m ×2 + 16.27sWARNcontroller_managerOverrun might occur, Total time : 7284.130 us (Expected < 1666.667 us) --> Read time : 123.094 us, Update time : 6769.424 us, Write time : 391.612 us + 16.27sWARNros2_control_nodeOverrun might occur, Total time : 7284.130 us (Expected < 1666.667 us) --> Read time : 123.094 us, Update time : 6769.424 us, Write time : 391.612 us[0m ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 7.9s | 81 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128587 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128587 ms (missed cycles : 3).[0m ×2 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us[0m ×2 + 0.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781109794.70557332 seconds. ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.33sWARNcontroller_managerOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.33sWARNros2_control_nodeOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us[0m ×2 + 0.33sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781109794.78585100 seconds ×3 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.88sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781109795.33276129 seconds. ×3 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3).[0m ×2 + 1.01sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781109797.46291137 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781109798.00870657 seconds. ×3 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 3658.553 us (Expected < 1666.667 us) --> Read time : 155.364 us, Update time : 3077.617 us, Write time : 425.572 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 3658.553 us (Expected < 1666.667 us) --> Read time : 155.364 us, Update time : 3077.617 us, Write time : 425.572 us[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.67sINFOros2_control_node[2026-06-10 16:43:18.123] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-06-10 16:43:18.123] [info] Accepted new action goal ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 4.03sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641705 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641705 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun might occur, Total time : 3796.506 us (Expected < 1666.667 us) --> Read time : 185.435 us, Update time : 2972.464 us, Write time : 638.607 us + 4.88sWARNros2_control_nodeOverrun might occur, Total time : 3796.506 us (Expected < 1666.667 us) --> Read time : 185.435 us, Update time : 2972.464 us, Write time : 638.607 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487279 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487279 ms (missed cycles : 4).[0m ×2 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 5287.089 us (Expected < 1666.667 us) --> Read time : 180.505 us, Update time : 4742.224 us, Write time : 364.360 us + 6.11sWARNros2_control_nodeOverrun might occur, Total time : 5287.089 us (Expected < 1666.667 us) --> Read time : 180.505 us, Update time : 4742.224 us, Write time : 364.360 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070023 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070023 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306238 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306238 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun might occur, Total time : 2092.859 us (Expected < 1666.667 us) --> Read time : 217.926 us, Update time : 1408.520 us, Write time : 466.413 us + 7.31sWARNros2_control_nodeOverrun might occur, Total time : 2092.859 us (Expected < 1666.667 us) --> Read time : 217.926 us, Update time : 1408.520 us, Write time : 466.413 us[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704458 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704458 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun might occur, Total time : 4044.364 us (Expected < 1666.667 us) --> Read time : 134.314 us, Update time : 3503.319 us, Write time : 406.731 us + 8.40sWARNros2_control_nodeOverrun might occur, Total time : 4044.364 us (Expected < 1666.667 us) --> Read time : 134.314 us, Update time : 3503.319 us, Write time : 406.731 us[0m ×2 + 8.69sINFOobjective_server_node[0;93m2026-06-10 16:43:23.139874663 [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 + 8.69sINFOobjective_server_node[0;93m2026-06-10 16:43:23.139910114 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.22sINFOobjective_server_node[0;93m2026-06-10 16:43:23.675402179 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.22sINFOobjective_server_node[0;93m2026-06-10 16:43:23.675433890 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297905 ms (missed cycles : 3). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297905 ms (missed cycles : 3).[0m ×2 + 9.34sINFOobjective_server_node[0;93m2026-06-10 16:43:23.794219354 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.35sINFOobjective_server_node[0;93m2026-06-10 16:43:23.796541639 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.35sINFOobjective_server_node[0;93m2026-06-10 16:43:23.796560950 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.64sINFOobjective_server_node[0;93m2026-06-10 16:43:24.081417931 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.65sINFOobjective_server_node[0;93m2026-06-10 16:43:24.097641288 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.65sINFOobjective_server_node[0;93m2026-06-10 16:43:24.097676819 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.81sWARNcontroller_managerOverrun might occur, Total time : 3548.390 us (Expected < 1666.667 us) --> Read time : 150.604 us, Update time : 3051.267 us, Write time : 346.519 us + 9.81sWARNros2_control_nodeOverrun might occur, Total time : 3548.390 us (Expected < 1666.667 us) --> Read time : 150.604 us, Update time : 3051.267 us, Write time : 346.519 us[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076578 ms (missed cycles : 6). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076578 ms (missed cycles : 6).[0m ×2 + 10.89sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 10.89sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 10.91sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781109805.36535859 seconds ×3 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6).[0m ×2 + 11.52sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781109805.97581768 seconds. ×3 + 11.57sWARNcontroller_managerOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us + 11.57sWARNros2_control_nodeOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us[0m ×2 + 11.94sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.94sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.94sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 11.94sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 12.01sINFOobjective_server_node[0;93m2026-06-10 16:43:26.456696700 [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 + 12.01sINFOobjective_server_node[0;93m2026-06-10 16:43:26.456726401 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3).[0m ×2 + 12.52sINFOobjective_server_node[0;93m2026-06-10 16:43:26.969989669 [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 + 12.52sINFOobjective_server_node[0;93m2026-06-10 16:43:26.970023420 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.62sINFOobjective_server_node[0;93m2026-06-10 16:43:27.063907501 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 12.62sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066910246 [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 + 12.62sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066951857 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.78sWARNcontroller_managerOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us + 12.78sWARNros2_control_nodeOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us[0m ×2 + 12.90sINFOobjective_server_node[0;93m2026-06-10 16:43:27.349096611 [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 + 12.92sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367070068 [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 + 12.92sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367103079 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8).[0m ×2 + 13.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781109808.25474668 seconds ×3 + 13.87sWARNcontroller_managerOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us + 13.88sWARNros2_control_nodeOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us[0m ×2 + 14.24sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 14.24sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2).[0m ×2 + 14.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781109809.01011610 seconds. ×3 + 14.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.56sINFOros2_control_nodeReceived & accepted new action goal[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 1.704458 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704458 ms (missed cycles : 2).[0m ×2 + 0.14sWARNcontroller_managerOverrun might occur, Total time : 4044.364 us (Expected < 1666.667 us) --> Read time : 134.314 us, Update time : 3503.319 us, Write time : 406.731 us + 0.14sWARNros2_control_nodeOverrun might occur, Total time : 4044.364 us (Expected < 1666.667 us) --> Read time : 134.314 us, Update time : 3503.319 us, Write time : 406.731 us[0m ×2 + 0.43sINFOobjective_server_node[0;93m2026-06-10 16:43:23.139874663 [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 + 0.43sINFOobjective_server_node[0;93m2026-06-10 16:43:23.139910114 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.96sINFOobjective_server_node[0;93m2026-06-10 16:43:23.675402179 [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 + 0.96sINFOobjective_server_node[0;93m2026-06-10 16:43:23.675433890 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297905 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297905 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_node[0;93m2026-06-10 16:43:23.794219354 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-10 16:43:23.796541639 [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 + 1.08sINFOobjective_server_node[0;93m2026-06-10 16:43:23.796560950 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.38sINFOobjective_server_node[0;93m2026-06-10 16:43:24.081417931 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-10 16:43:24.097641288 [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 + 1.39sINFOobjective_server_node[0;93m2026-06-10 16:43:24.097676819 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 3548.390 us (Expected < 1666.667 us) --> Read time : 150.604 us, Update time : 3051.267 us, Write time : 346.519 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 3548.390 us (Expected < 1666.667 us) --> Read time : 150.604 us, Update time : 3051.267 us, Write time : 346.519 us[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076578 ms (missed cycles : 6). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076578 ms (missed cycles : 6).[0m ×2 + 2.63sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 2.63sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 2.65sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781109805.36535859 seconds ×3 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781109805.97581768 seconds. ×3 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us[0m ×2 + 3.68sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.68sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.68sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 3.68sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 3.74sINFOobjective_server_node[0;93m2026-06-10 16:43:26.456696700 [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 + 3.74sINFOobjective_server_node[0;93m2026-06-10 16:43:26.456726401 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_node[0;93m2026-06-10 16:43:26.969989669 [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 + 4.26sINFOobjective_server_node[0;93m2026-06-10 16:43:26.970023420 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.36sINFOobjective_server_node[0;93m2026-06-10 16:43:27.063907501 [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 + 4.36sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066910246 [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 + 4.36sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066951857 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us[0m ×2 + 4.64sINFOobjective_server_node[0;93m2026-06-10 16:43:27.349096611 [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 + 4.65sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367070068 [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 + 4.66sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367103079 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781109808.25474668 seconds ×3 + 5.61sWARNcontroller_managerOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us + 5.61sWARNros2_control_nodeOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us[0m ×2 + 5.98sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 5.98sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781109809.01011610 seconds. ×3 + 6.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.49sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 6.49sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 6.67sWARNcontroller_managerOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us[0m ×2 + 7.28sINFOobjective_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 + 7.29sINFOobjective_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 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3).[0m ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.61sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Received new action goal ×2 + 7.61sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Accepted new action goal ×2 + 7.76sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 7.77sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 7.85sWARNcontroller_managerOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us + 7.85sWARNros2_control_nodeOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3).[0m ×2 + 8.87sWARNcontroller_managerOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us + 8.87sWARNros2_control_nodeOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 51 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3483.537 us (Expected < 1666.667 us) --> Read time : 99.792 us, Update time : 3097.047 us, Write time : 286.698 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3483.537 us (Expected < 1666.667 us) --> Read time : 99.792 us, Update time : 3097.047 us, Write time : 286.698 us[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928111 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928111 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1765.560 us (Expected < 1666.667 us) --> Read time : 316.159 us, Update time : 701.320 us, Write time : 748.081 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1765.560 us (Expected < 1666.667 us) --> Read time : 316.159 us, Update time : 701.320 us, Write time : 748.081 us[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931069 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931069 ms (missed cycles : 3).[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781109794.08814383 seconds ×3 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128587 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128587 ms (missed cycles : 3).[0m ×2 + 2.51sWARNcontroller_managerOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us + 2.51sWARNros2_control_nodeOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781109794.70557332 seconds. ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sWARNcontroller_managerOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781109794.78585100 seconds ×3 + 3.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781109795.33276129 seconds. ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3).[0m ×2 + 3.31sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8).[0m ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781109797.46291137 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781109798.00870657 seconds. ×3 + 5.87sWARNcontroller_managerOverrun might occur, Total time : 3658.553 us (Expected < 1666.667 us) --> Read time : 155.364 us, Update time : 3077.617 us, Write time : 425.572 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 3658.553 us (Expected < 1666.667 us) --> Read time : 155.364 us, Update time : 3077.617 us, Write time : 425.572 us[0m ×2 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.97sINFOros2_control_node[2026-06-10 16:43:18.123] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-06-10 16:43:18.123] [info] Accepted new action goal ×2 + 6.32sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 6.32sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641705 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641705 ms (missed cycles : 4).[0m ×2 + 7.18sWARNcontroller_managerOverrun might occur, Total time : 3796.506 us (Expected < 1666.667 us) --> Read time : 185.435 us, Update time : 2972.464 us, Write time : 638.607 us + 7.18sWARNros2_control_nodeOverrun might occur, Total time : 3796.506 us (Expected < 1666.667 us) --> Read time : 185.435 us, Update time : 2972.464 us, Write time : 638.607 us[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487279 ms (missed cycles : 4). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487279 ms (missed cycles : 4).[0m ×2 + 8.40sWARNcontroller_managerOverrun might occur, Total time : 5287.089 us (Expected < 1666.667 us) --> Read time : 180.505 us, Update time : 4742.224 us, Write time : 364.360 us + 8.41sWARNros2_control_nodeOverrun might occur, Total time : 5287.089 us (Expected < 1666.667 us) --> Read time : 180.505 us, Update time : 4742.224 us, Write time : 364.360 us[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070023 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070023 ms (missed cycles : 3).[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 | 1.8s | 698 errors · 48 warnings · 801 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×462 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.321737008334757[0m ×4 + 0.00sINFOjoint_trajectory_controllerReceived new action goal ×230 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.321737008334757 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.203935974043631 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.203935974043631[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.376736193135198 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.376736193135198[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.393333332003031 ×2 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.393333332003031[0m ×4 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.387188456077251 ×2 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.387188456077251[0m ×4 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.507220165606338 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.507220165606338[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.507220165606334 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.507220165606334[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.314304642100875 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.314304642100875[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.949132430976320 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.949132430976320[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.952340905197808 ×2 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.952340905197808[0m ×4 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.819028020422401 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.819028020422401[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.409101152252092 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.409101152252092[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.879262241837640 ×2 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.879262241837640[0m ×4 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.091829388078185 ×2 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.091829388078185[0m ×4 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.843981023012940 ×2 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.843981023012940[0m ×4 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.774289333027014 ×2 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.774289333027014[0m ×4 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.720466189245691 ×2 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.720466189245691[0m ×4 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.595816718344349 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.595816718344349[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.985396322403914 ×2 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.985396322403914[0m ×4 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.969533726363750 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.969533726363750[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.970737770829282 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.970737770829282[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.301313267624535 ×2 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.301313267624535[0m ×4 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.527748548938224 ×2 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.527748548938224[0m ×4 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.965485241798465 ×2 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.965485241798465[0m ×4 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -55.839682802044280 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -55.839682802044280[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -218.362197480534860 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -218.362197480534860[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -160.740887970156734 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -160.740887970156734[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -98.233757613497914 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -98.233757613497914[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.225642277668458 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.225642277668458[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.591071553954942 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.591071553954942[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.627184827642434 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.627184827642434[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.302878340163343 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.302878340163343[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.934087709346114 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.934087709346114[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.535429546346561 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.535429546346561[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.124773976208551 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.124773976208551[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647238 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647238 ms (missed cycles : 2).[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.569865358035897 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.569865358035897[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.997123146882898 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.997123146882898[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.426151642233346 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.426151642233346[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.855522617804269 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.855522617804269[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.586156785674159 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.586156785674159[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.346666383234071 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.346666383234071[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.625777582167343 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.625777582167343[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.020565817906167 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.020565817906167[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.880349336247370 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.880349336247370[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.740760482080688 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.740760482080688[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.171137275890747 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.171137275890747[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.601622944592567 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.601622944592567[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.032239634675044 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.032239634675044[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.462952552002957 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.462952552002957[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.324711155971137 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.324711155971137[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.755877998868854 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.755877998868854[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.187367346105873 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.187367346105873[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.758069587119785 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.758069587119785[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.900886232235802 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.900886232235802[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.472120625471330 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.472120625471330[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.903095192169339 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.903095192169339[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.166689316174239 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.166689316174239[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.303947848687800 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.303947848687800[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.873972305248600 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.873972305248600[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.444021613729937 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.444021613729937[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.177949241157348 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.177949241157348[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.600793098035784 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.600793098035784[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.029560144720755 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.029560144720755[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.459198738769812 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.459198738769812[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.889064583698643 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.889064583698643[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.318936053475849 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.318936053475849[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.608490256521925 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.608490256521925[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.468092445228571 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.468092445228571[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.468088169136841 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.468088169136841[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.327685344084333 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.327685344084333[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.757404232811083 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.757404232811083[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.187156673288332 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.187156673288332[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.616866714459796 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.616866714459796[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.046594272401798 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.046594272401798[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.476328255286955 + 0.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.476328255286955[0m ×2 + 0.91sWARNcontroller_managerOverrun might occur, Total time : 2997.906 us (Expected < 1666.667 us) --> Read time : 86.823 us, Update time : 2617.245 us, Write time : 293.838 us + 0.91sWARNros2_control_nodeOverrun might occur, Total time : 2997.906 us (Expected < 1666.667 us) --> Read time : 86.823 us, Update time : 2617.245 us, Write time : 293.838 us[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.906153804204777 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.906153804204777[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.195206345325744 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.195206345325744[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.054375128360434 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.054375128360434[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.484151118620098 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.484151118620098[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.051869381593654 + 0.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.051869381593654[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.621712290755646 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.621712290755646[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.761817605053892 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.761817605053892[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.464080185106248 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.464080185106248[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.033952435269615 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.033952435269615[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.603753768199471 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.603753768199471[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.173311878612090 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.173311878612090[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.478106522279802 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.478106522279802[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.326020054319342 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.326020054319342[0m ×2 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.756221419033372 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.756221419033372[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.187256255822737 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.187256255822737[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.618310410601008 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.618310410601008[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.049586712041293 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.049586712041293[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.480934383089298 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.480934383089298[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.912360701640093 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.912360701640093[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.774860147044722 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.774860147044722[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.206419546470666 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.206419546470666[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.638197808696763 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.638197808696763[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.070470217087617 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.070470217087617[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.503139811700127 + 1.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.503139811700127[0m ×2 + 1.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.935946273352428 + 1.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.935946273352428[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.368514141501915 + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.368514141501915[0m ×2 + 1.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.800922945095245 + 1.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.800922945095245[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.663831224985262 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.663831224985262[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.094253279108507 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.094253279108507[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.523770843169004 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.523770843169004[0m ×2 + 1.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.952461328244581 + 1.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.952461328244581[0m ×2 + 1.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.646377348887178 + 1.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.646377348887178[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.215071901333559 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.215071901333559[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.784225813691194 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.784225813691194[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.352818789516597 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.352818789516597[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.921730650756764 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.921730650756764[0m ×2 + 1.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.490689873034174 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.490689873034174[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049376856190307 + 1.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049376856190307[0m ×2 + 1.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.456714310191292 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.456714310191292[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.881734179615291 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.881734179615291[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.311415987650788 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.311415987650788[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.741520403897679 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.741520403897679[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.172203820350589 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.172203820350589[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.900910 ms (missed cycles : 12). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.900910 ms (missed cycles : 12).[0m ×2 + 1.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.602849689740646 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.602849689740646[0m ×2 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.437069590778204 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.437069590778204[0m ×2 + 1.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.007946673113906 + 1.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.007946673113906[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.579323178082485 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.579323178082485[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.560431723915304 + 1.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.560431723915304[0m ×2 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.413683475391634 + 1.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.413683475391634[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.291612826389648 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.291612826389648[0m ×2 + 1.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.195525758825227 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.195525758825227[0m ×2 + 1.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.123989310229978 + 1.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.123989310229978[0m ×2 + 1.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.072971425224699 + 1.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.072971425224699[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.038376064649781 + 1.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.038376064649781[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016827980879844 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016827980879844[0m ×2 + 1.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003074693857455 + 1.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003074693857455[0m ×2 + 1.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456485990259 + 1.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456485990259[0m ×2 + 1.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007130194841729 + 1.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007130194841729[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765696508200 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765696508200[0m ×2 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440452326542 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004440452326542[0m ×2 + 1.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003261981058606 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003261981058606[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278333860914 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278333860914[0m ×2 + 1.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001549434959859 + 1.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001549434959859[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000971337799893 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000971337799893[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000573993290821 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000573993290821[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153342832226 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153342832226[0m ×2 + 1.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043743059563 + 1.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043743059563[0m ×2 + 1.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002178013879 + 1.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002178013879[0m ×2 + 1.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032318165602 + 1.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032318165602[0m ×2 + 1.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034944203301 + 1.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034944203301[0m ×2 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030778972243 + 1.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030778972243[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010893738751 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010893738751[0m ×2 + 1.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010903674469 + 1.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010903674469[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006079935927 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006079935927[0m ×2 + 1.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001232983035 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001232983035[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001058881767 + 1.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001058881767[0m ×2 + 1.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007588201699 + 1.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007588201699[0m ×2 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015295481113 + 1.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015295481113[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014562353359 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014562353359[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080474885462 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080474885462[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051082874880 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051082874880[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069096063952 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069096063952[0m ×2 + 1.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056087385847 + 1.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056087385847[0m ×2 + 1.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061610983709 + 1.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061610983709[0m ×2 + 1.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064245627392 + 1.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064245627392[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037191618823 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037191618823[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061691277830 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061691277830[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056101688538 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056101688538[0m ×2 + 2.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041467551518 + 2.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041467551518[0m ×2 + 2.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036697771029 + 2.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036697771029[0m ×2 + 2.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034583416179 + 2.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034583416179[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 2967.844 us (Expected < 1666.667 us) --> Read time : 2574.023 us, Update time : 73.752 us, Write time : 320.069 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 2967.844 us (Expected < 1666.667 us) --> Read time : 2574.023 us, Update time : 73.752 us, Write time : 320.069 us[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037031144855 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037031144855[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024557615857 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024557615857[0m ×2 + 2.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019955288240 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019955288240[0m ×2 + 2.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018479188493 + 2.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018479188493[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023569741503 + 2.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023569741503[0m ×2 + 2.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021862993050 + 2.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021862993050[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015903037863 + 2.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015903037863[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019208092760 + 2.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019208092760[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016181591931 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016181591931[0m ×2 + 2.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016555192916 + 2.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016555192916[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015420129203 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015420129203[0m ×2 + 2.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017217649773 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017217649773[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014700230288 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014700230288[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018371125953 + 2.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018371125953[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017754523727 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017754523727[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014167802531 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014167802531[0m ×2 + 2.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014262691476 + 2.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014262691476[0m ×2 + 2.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016495958660 + 2.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016495958660[0m ×2 + 2.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016719376615 + 2.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016719376615[0m ×2 + 2.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010247384769 + 2.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010247384769[0m ×2 + 2.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010590795472 + 2.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010590795472[0m ×2 + 2.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011805054447 + 2.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011805054447[0m ×2 + 2.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011645127486 + 2.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011645127486[0m ×2 + 2.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012366139404 + 2.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012366139404[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008976757394 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008976757394[0m ×2 + 2.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017093104595 + 2.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017093104595[0m ×2 + 2.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011412637987 + 2.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011412637987[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795176 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795176 ms (missed cycles : 2).[0m ×2 + 2.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017733911746 + 2.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017733911746[0m ×2 + 2.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016946731954 + 2.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016946731954[0m ×2 + 2.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017121521600 + 2.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017121521600[0m ×2 + 2.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018284635572 + 2.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018284635572[0m ×2 + 2.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017049353629 + 2.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017049353629[0m ×2 + 2.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016642600658 + 2.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016642600658[0m ×2 + 2.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014485517283 + 2.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014485517283[0m ×2 + 2.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014484900818 + 2.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014484900818[0m ×2 + 2.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015286347810 + 2.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015286347810[0m ×2 + 2.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012856921883 + 2.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012856921883[0m ×2 + 2.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015693926355 + 2.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015693926355[0m ×2 + 2.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015825938098 + 2.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015825938098[0m ×2 + 2.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009517402178 + 2.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009517402178[0m ×2 + 2.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011553632084 + 2.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011553632084[0m ×2 + 2.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013063919435 + 2.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013063919435[0m ×2 + 2.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011876299325 + 2.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011876299325[0m ×2 + 2.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004451161411 + 2.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004451161411[0m ×2 + 2.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005936369646 + 2.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005936369646[0m ×2 + 2.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006146951440 + 2.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006146951440[0m ×2 + 2.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007531873034 + 2.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007531873034[0m ×2 + 2.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006386505645 + 2.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006386505645[0m ×2 + 2.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003928727668 + 2.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003928727668[0m ×2 + 2.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000188680285 + 2.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000188680285[0m ×2 + 2.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001622117448 + 2.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001622117448[0m ×2 + 2.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005122524025 + 2.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005122524025[0m ×2 + 2.79sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 2.82sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 2.82sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m ×2 + 2.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sWARNcontroller_managerOverrun might occur, Total time : 7190.805 us (Expected < 1666.667 us) --> Read time : 100.303 us, Update time : 6561.838 us, Write time : 528.664 us + 3.11sWARNros2_control_nodeOverrun might occur, Total time : 7190.805 us (Expected < 1666.667 us) --> Read time : 100.303 us, Update time : 6561.838 us, Write time : 528.664 us[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. ×6 + 3.33sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 3.33sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781109900.83516979 seconds ×3 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046000 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046000 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781109901.41233468 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.06sINFOros2_control_node[2026-06-10 16:45:01.565] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-06-10 16:45:01.565] [info] Accepted new action goal ×2 + 4.18sINFOobjective_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 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.41sWARNcontroller_managerOverrun might occur, Total time : 1722.720 us (Expected < 1666.667 us) --> Read time : 202.276 us, Update time : 1177.454 us, Write time : 342.990 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 1722.720 us (Expected < 1666.667 us) --> Read time : 202.276 us, Update time : 1177.454 us, Write time : 342.990 us[0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881080 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881080 ms (missed cycles : 4).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781109902.59311247 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737159 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737159 ms (missed cycles : 4).[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 3734.367 us (Expected < 1666.667 us) --> Read time : 172.845 us, Update time : 3132.789 us, Write time : 428.733 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 3734.367 us (Expected < 1666.667 us) --> Read time : 172.845 us, Update time : 3132.789 us, Write time : 428.733 us[0m ×2 + 5.67sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781109903.17893696 seconds. ×3 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.84sINFOros2_control_node[2026-06-10 16:45:03.343] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-06-10 16:45:03.343] [info] Accepted new action goal ×2 + 5.87sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/moveit_pro_ui/switch_primary_view" + 5.87sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358748 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358748 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun might occur, Total time : 5281.510 us (Expected < 1666.667 us) --> Read time : 146.314 us, Update time : 4787.826 us, Write time : 347.370 us + 7.18sWARNros2_control_nodeOverrun might occur, Total time : 5281.510 us (Expected < 1666.667 us) --> Read time : 146.314 us, Update time : 4787.826 us, Write time : 347.370 us[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968649 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968649 ms (missed cycles : 3).[0m ×2 + 8.20sWARNcontroller_managerOverrun might occur, Total time : 1735.600 us (Expected < 1666.667 us) --> Read time : 176.196 us, Update time : 36.871 us, Write time : 1522.533 us + 8.20sWARNros2_control_nodeOverrun might occur, Total time : 1735.600 us (Expected < 1666.667 us) --> Read time : 176.196 us, Update time : 36.871 us, Write time : 1522.533 us[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303616 ms (missed cycles : 4). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303616 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 55 warnings · 493 info |
+ 0.00sINFOobjective_server_node[2026-06-10 16:41:44.851] [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 + 0.25sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics" + 0.25sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics"[0m ×2 + 0.25sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector" + 0.25sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector"[0m ×2 + 0.26sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description" + 0.26sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m ×2 + 0.34sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.34sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.34sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.34sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.34sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.34sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.35sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.35sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.35sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.35sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.35sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.35sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.35sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.41sINFOobjective_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 + 0.41sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.42sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.42sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.48sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.48sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.48sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.49sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.50sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 3507.406 us (Expected < 1666.667 us) --> Read time : 81.902 us, Update time : 3192.347 us (Switch time : 3184.887 us (Switch chained mode time : 1.500 us, perform mode change time : 4.380 us, Activation time : 3172.657 us, Deactivation time : 1.050 us)), Write time : 233.157 us + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632469 ms (missed cycles : 3). + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 3507.406 us (Expected < 1666.667 us) --> Read time : 81.902 us, Update time : 3192.347 us (Switch time : 3184.887 us (Switch chained mode time : 1.500 us, perform mode change time : 4.380 us, Activation time : 3172.657 us, Deactivation time : 1.050 us)), Write time : 233.157 us[0m ×2 + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632469 ms (missed cycles : 3).[0m ×2 + 0.51sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.78sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.78sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.78sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9848] ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/points" + 0.83sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/points"[0m ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/depth" + 0.83sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/color" + 0.83sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/depth"[0m ×2 + 0.83sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/color"[0m ×2 + 0.84sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/visual_markers" + 0.84sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/visual_markers"[0m ×2 + 0.84sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/transient_monitored_planning_scene_without_octomap" + 0.84sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/depth" + 0.84sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color" + 0.84sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 0.84sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/depth"[0m ×2 + 0.84sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color"[0m ×2 + 0.84sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info" + 0.84sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/points" + 0.84sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/camera_info" + 0.84sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info"[0m ×2 + 0.84sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/points"[0m ×2 + 0.84sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/camera_info"[0m ×2 + 0.84sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/robotiq_gripper_controller/transition_event" + 0.84sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/blackboard_contents" + 0.84sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/behavior_tree_status" + 0.85sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/blackboard_contents"[0m ×2 + 0.85sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/behavior_tree_status"[0m ×2 + 0.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.94sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.97sINFOros2_control_node[2026-06-10 16:41:45.823] [info] Controller state will be published at 10 Hz. ×2 + 0.97sINFOros2_control_node[2026-06-10 16:41:45.824] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.17sWARNobjective_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 + 1.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.24sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.24sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.24sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 1.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 1.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.25sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9856] ×2 + 1.28sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.28sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.28sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.28sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.28sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.28sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.29sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.29sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.30sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.32sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.33sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.33sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.33sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.33sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 1.44sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event" + 1.48sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command" + 1.48sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event" + 1.48sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_state_broadcaster/transition_event" + 1.48sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command"[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event"[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states" + 1.48sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states"[0m ×2 + 1.48sINFOmove_group ×4 + 1.48sINFOmove_group[92mYou can start planning now![0m ×2 + 1.48sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/velocity_force_controller/controller_state" + 1.48sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.58sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.58sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9849] ×2 + 1.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 1.65sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 1.68sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.68sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.71sINFOros2_control_node[2026-06-10 16:41:46.561] [info] Controller state will be published at 20 Hz. ×2 + 1.71sINFOros2_control_node[2026-06-10 16:41:46.562] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.03sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.03sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.03sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 2.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484648 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484648 ms (missed cycles : 2).[0m ×2 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9857] ×2 + 2.07sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.08sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.08sINFOforce_torque_sensor_broadcasterconfigure successful + 2.08sINFOros2_control_nodeconfigure successful[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.09sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/controller_state" + 2.10sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 2.10sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 2.10sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench" + 2.10sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/transition_event" + 2.10sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command" + 2.10sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command"[0m ×2 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9847] ×2 + 2.39sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.39sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 2.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 2.45sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 2.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.45sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.45sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.45sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.45sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.47sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 2.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 2.65sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/transition_event" + 2.65sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/speed_scaling_input" + 2.66sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/joint_trajectory" + 2.66sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/controller_state" + 2.66sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 2.77sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.77sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.77sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9850] ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781109707.66281962 seconds. ×3 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781109707.67298651 seconds ×3 + 2.84sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 2.84sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 2.87sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.88sINFOros2_control_node[2026-06-10 16:41:47.726] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.88sINFOros2_control_node[2026-06-10 16:41:47.726] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.90sINFOros2_control_node[2026-06-10 16:41:47.748] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.90sINFOros2_control_node[2026-06-10 16:41:47.748] [info] Controller state will be published at 50 Hz. ×2 + 2.90sINFOros2_control_node[2026-06-10 16:41:47.752] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9854] ×2 + 3.20sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state" + 3.20sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 3.20sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 3.20sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 3.20sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781109708.21475029 seconds. ×3 + 3.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5).[0m ×2 + 3.72sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.72sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.77sWARNcontroller_managerOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 5.29sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 5.29sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 6.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 6.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 6.79sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 6.79sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 7.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 7.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 7.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 7.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 8.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 8.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 8.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 8.00sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 8.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 8.00sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 8.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 8.02sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 8.02sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 42 warnings · 297 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9849] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.13sINFOros2_control_node[2026-06-10 16:41:46.561] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-06-10 16:41:46.562] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484648 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484648 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9857] ×2 + 0.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.50sINFOforce_torque_sensor_broadcasterconfigure successful + 0.50sINFOros2_control_nodeconfigure successful[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.51sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.51sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.52sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/controller_state" + 0.52sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 0.52sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.52sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench" + 0.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.52sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command" + 0.52sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command"[0m ×2 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9847] ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.87sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.88sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.88sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.89sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 1.07sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/transition_event" + 1.07sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/speed_scaling_input" + 1.08sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/joint_trajectory" + 1.08sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/controller_state" + 1.08sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.19sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9850] ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781109707.66281962 seconds. ×3 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781109707.67298651 seconds ×3 + 1.26sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 1.26sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 1.29sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.30sINFOros2_control_node[2026-06-10 16:41:47.726] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.30sINFOros2_control_node[2026-06-10 16:41:47.726] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.32sINFOros2_control_node[2026-06-10 16:41:47.748] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.32sINFOros2_control_node[2026-06-10 16:41:47.748] [info] Controller state will be published at 50 Hz. ×2 + 1.32sINFOros2_control_node[2026-06-10 16:41:47.752] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9854] ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.62sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.62sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.62sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781109708.21475029 seconds. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5).[0m ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 5.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 5.21sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.42sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.43sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 7.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 7.02sINFOobjective_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 + 7.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 7.11sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 7.12sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 8.38sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 8.38sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 45 warnings · 66 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.039057 ms (missed cycles : 12). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.039057 ms (missed cycles : 12).[0m ×2 + 0.80sWARNcontroller_managerOverrun might occur, Total time : 3589.353 us (Expected < 1666.667 us) --> Read time : 104.513 us, Update time : 3174.261 us, Write time : 310.579 us + 0.80sWARNros2_control_nodeOverrun might occur, Total time : 3589.353 us (Expected < 1666.667 us) --> Read time : 104.513 us, Update time : 3174.261 us, Write time : 310.579 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035283 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035283 ms (missed cycles : 2).[0m ×2 + 1.96sWARNcontroller_managerOverrun might occur, Total time : 3365.947 us (Expected < 1666.667 us) --> Read time : 102.473 us, Update time : 2912.153 us, Write time : 351.321 us + 1.96sWARNros2_control_nodeOverrun might occur, Total time : 3365.947 us (Expected < 1666.667 us) --> Read time : 102.473 us, Update time : 2912.153 us, Write time : 351.321 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849702 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849702 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us[0m ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3).[0m ×2 + 3.53sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Got request to cancel active goal. ×2 + 3.53sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781109998.80474329 seconds ×3 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.55sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781109999.36629558 seconds. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2).[0m ×2 + 4.56sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 4.56sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781110000.14651370 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us + 5.29sWARNros2_control_nodeOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781110000.68956804 seconds. ×3 + 5.43sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.43sINFOobjective_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 + 5.43sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.43sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781110000.69099307 seconds ×3 + 5.57sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.57sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 5.57sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.57sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781110001.23769712 seconds. ×3 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781110001.23818445 seconds ×3 + 6.07sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 6.07sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781110001.93789792 seconds. ×3 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249806 ms (missed cycles : 4). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249806 ms (missed cycles : 4).[0m ×2 + 7.60sINFOfoxglove_bridgeAdvertising new channel 90 for topic "/pcd_pointcloud_captures" + 7.60sINFOfoxglove_bridgeAdvertising new channel 90 for topic "/pcd_pointcloud_captures"[0m ×2 + 7.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781110003.05804062 seconds ×3 + 7.82sWARNcontroller_managerOverrun might occur, Total time : 4014.684 us (Expected < 1666.667 us) --> Read time : 147.185 us, Update time : 3496.068 us, Write time : 371.431 us + 7.82sWARNros2_control_nodeOverrun might occur, Total time : 4014.684 us (Expected < 1666.667 us) --> Read time : 147.185 us, Update time : 3496.068 us, Write time : 371.431 us[0m ×2 + 7.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.11sINFOfoxglove_bridgeRemoving channel 90 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 42 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.647503 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.647503 ms (missed cycles : 7).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3483.537 us (Expected < 1666.667 us) --> Read time : 99.792 us, Update time : 3097.047 us, Write time : 286.698 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 3483.537 us (Expected < 1666.667 us) --> Read time : 99.792 us, Update time : 3097.047 us, Write time : 286.698 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928111 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928111 ms (missed cycles : 3).[0m ×2 + 1.81sWARNcontroller_managerOverrun might occur, Total time : 1765.560 us (Expected < 1666.667 us) --> Read time : 316.159 us, Update time : 701.320 us, Write time : 748.081 us + 1.81sWARNros2_control_nodeOverrun might occur, Total time : 1765.560 us (Expected < 1666.667 us) --> Read time : 316.159 us, Update time : 701.320 us, Write time : 748.081 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931069 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931069 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781109794.08814383 seconds ×3 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128587 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128587 ms (missed cycles : 3).[0m ×2 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us + 3.29sWARNros2_control_nodeOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781109794.70557332 seconds. ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.40sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sWARNcontroller_managerOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781109794.78585100 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781109795.33276129 seconds. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3).[0m ×2 + 4.09sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8).[0m ×2 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us[0m ×2 + 6.09sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781109797.46291137 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5).[0m ×2 + 6.64sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781109798.00870657 seconds. ×3 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 3658.553 us (Expected < 1666.667 us) --> Read time : 155.364 us, Update time : 3077.617 us, Write time : 425.572 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 3658.553 us (Expected < 1666.667 us) --> Read time : 155.364 us, Update time : 3077.617 us, Write time : 425.572 us[0m ×2 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.75sINFOros2_control_node[2026-06-10 16:43:18.123] [info] Received new action goal ×2 + 6.75sINFOros2_control_node[2026-06-10 16:43:18.123] [info] Accepted new action goal ×2 + 7.10sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 7.10sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641705 ms (missed cycles : 4). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641705 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6).[0m ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Canceling active goal... ×2 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781109723.90850830 seconds ×3 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781109724.47178173 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781109724.59191728 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781109725.22173405 seconds. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us + 4.89sWARNros2_control_nodeOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190840 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190840 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 39 warnings · 51 info |
+ 0.00sINFOros2_control_node[2026-06-10 16:42:26.021] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-10 16:42:26.021] [info] Accepted new action goal ×2 + 0.08sWARNcontroller_managerOverrun might occur, Total time : 2281.184 us (Expected < 1666.667 us) --> Read time : 158.074 us, Update time : 43.241 us, Write time : 2079.869 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 2281.184 us (Expected < 1666.667 us) --> Read time : 158.074 us, Update time : 43.241 us, Write time : 2079.869 us[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Accepted new action goal ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781109748.96190953 seconds ×3 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781109749.53998113 seconds. ×3 + 3.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781109749.62013960 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5).[0m ×2 + 3.95sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.95sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781109750.24371481 seconds. ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.33sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Accepted new action goal ×2 + 4.45sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.45sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2).[0m ×2 + 4.88sWARNcontroller_managerOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us + 4.88sWARNros2_control_nodeOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725872 ms (missed cycles : 4). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725872 ms (missed cycles : 4).[0m ×2 + 7.25sWARNcontroller_managerOverrun might occur, Total time : 10369.332 us (Expected < 1666.667 us) --> Read time : 155.134 us, Update time : 9728.115 us, Write time : 486.083 us + 7.25sWARNros2_control_nodeOverrun might occur, Total time : 10369.332 us (Expected < 1666.667 us) --> Read time : 155.134 us, Update time : 9728.115 us, Write time : 486.083 us[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.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 3.754770 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754770 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7).[0m ×2 + 1.39sWARNcontroller_managerOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us + 1.39sWARNros2_control_nodeOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us[0m ×2 + 3.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781109986.87827063 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781109987.43101954 seconds. ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sWARNcontroller_managerOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sWARNros2_control_nodeOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781109987.52135849 seconds ×3 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us + 3.84sWARNros2_control_nodeOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us[0m ×2 + 4.06sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.06sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781109988.08435297 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_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 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781109988.11632943 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781109988.72602963 seconds. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us[0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.99sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 45 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7).[0m ×2 + 1.16sWARNcontroller_managerOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us + 1.16sWARNros2_control_nodeOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us[0m ×2 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781109986.87827063 seconds ×3 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.82sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781109987.43101954 seconds. ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sWARNcontroller_managerOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781109987.52135849 seconds ×3 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us + 3.61sWARNros2_control_nodeOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us[0m ×2 + 3.83sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.83sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781109988.08435297 seconds. ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_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 + 4.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781109988.11632943 seconds ×3 + 4.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781109988.72602963 seconds. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sWARNcontroller_managerOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us + 4.71sWARNros2_control_nodeOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us[0m ×2 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.76sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3).[0m ×2 + 5.90sWARNcontroller_managerOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us + 5.90sWARNros2_control_nodeOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5).[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043915 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043915 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun might occur, Total time : 1682.168 us (Expected < 1666.667 us) --> Read time : 113.603 us, Update time : 67.822 us, Write time : 1500.743 us + 7.23sWARNros2_control_nodeOverrun might occur, Total time : 1682.168 us (Expected < 1666.667 us) --> Read time : 113.603 us, Update time : 67.822 us, Write time : 1500.743 us[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.5s | 3 errors · 45 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3365.947 us (Expected < 1666.667 us) --> Read time : 102.473 us, Update time : 2912.153 us, Write time : 351.321 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3365.947 us (Expected < 1666.667 us) --> Read time : 102.473 us, Update time : 2912.153 us, Write time : 351.321 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849702 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849702 ms (missed cycles : 4).[0m ×2 + 1.15sWARNcontroller_managerOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us[0m ×2 + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Got request to cancel active goal. ×2 + 1.57sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Canceling active goal... ×2 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781109998.80474329 seconds ×3 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781109999.36629558 seconds. ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2).[0m ×2 + 2.60sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 2.60sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781110000.14651370 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2).[0m ×2 + 3.33sWARNcontroller_managerOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781110000.68956804 seconds. ×3 + 3.46sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.46sINFOobjective_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 + 3.47sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781110000.69099307 seconds ×3 + 3.60sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.60sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 3.60sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781110001.23769712 seconds. ×3 + 4.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781110001.23818445 seconds ×3 + 4.11sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 4.11sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781110001.93789792 seconds. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249806 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249806 ms (missed cycles : 4).[0m ×2 + 5.63sINFOfoxglove_bridgeAdvertising new channel 90 for topic "/pcd_pointcloud_captures" + 5.64sINFOfoxglove_bridgeAdvertising new channel 90 for topic "/pcd_pointcloud_captures"[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781110003.05804062 seconds ×3 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 4014.684 us (Expected < 1666.667 us) --> Read time : 147.185 us, Update time : 3496.068 us, Write time : 371.431 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 4014.684 us (Expected < 1666.667 us) --> Read time : 147.185 us, Update time : 3496.068 us, Write time : 371.431 us[0m ×2 + 5.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.14sINFOfoxglove_bridgeRemoving channel 90 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.127515 ms (missed cycles : 6). + 6.46sINFOfoxglove_bridgeRemoving channel 90 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.127515 ms (missed cycles : 6).[0m ×2 + 7.20sWARNcontroller_managerOverrun might occur, Total time : 1912.504 us (Expected < 1666.667 us) --> Read time : 151.914 us, Update time : 57.292 us, Write time : 1703.298 us + 7.20sWARNros2_control_nodeOverrun might occur, Total time : 1912.504 us (Expected < 1666.667 us) --> Read time : 151.914 us, Update time : 57.292 us, Write time : 1703.298 us[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.779298 ms (missed cycles : 7). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.779298 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.5s | 3 errors · 39 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3365.947 us (Expected < 1666.667 us) --> Read time : 102.473 us, Update time : 2912.153 us, Write time : 351.321 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3365.947 us (Expected < 1666.667 us) --> Read time : 102.473 us, Update time : 2912.153 us, Write time : 351.321 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849702 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849702 ms (missed cycles : 4).[0m ×2 + 1.15sWARNcontroller_managerOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us[0m ×2 + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3).[0m ×2 + 1.57sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Got request to cancel active goal. ×2 + 1.57sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Canceling active goal... ×2 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781109998.80474329 seconds ×3 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781109999.36629558 seconds. ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2).[0m ×2 + 2.60sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 2.60sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781110000.14651370 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2).[0m ×2 + 3.33sWARNcontroller_managerOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us + 3.33sWARNros2_control_nodeOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781110000.68956804 seconds. ×3 + 3.46sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.46sINFOobjective_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 + 3.47sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781110000.69099307 seconds ×3 + 3.60sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.60sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 3.60sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.60sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781110001.23769712 seconds. ×3 + 4.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781110001.23818445 seconds ×3 + 4.11sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 4.11sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781110001.93789792 seconds. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249806 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249806 ms (missed cycles : 4).[0m ×2 + 5.63sINFOfoxglove_bridgeAdvertising new channel 90 for topic "/pcd_pointcloud_captures" + 5.64sINFOfoxglove_bridgeAdvertising new channel 90 for topic "/pcd_pointcloud_captures"[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781110003.05804062 seconds ×3 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 4014.684 us (Expected < 1666.667 us) --> Read time : 147.185 us, Update time : 3496.068 us, Write time : 371.431 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 4014.684 us (Expected < 1666.667 us) --> Read time : 147.185 us, Update time : 3496.068 us, Write time : 371.431 us[0m ×2 + 5.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.14sINFOfoxglove_bridgeRemoving channel 90 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.127515 ms (missed cycles : 6). + 6.46sINFOfoxglove_bridgeRemoving channel 90 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.127515 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.2s | 39 warnings · 78 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.02sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781109805.36535859 seconds ×3 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781109805.97581768 seconds. ×3 + 0.68sWARNcontroller_managerOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us + 0.68sWARNros2_control_nodeOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us[0m ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.05sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.05sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.12sINFOobjective_server_node[0;93m2026-06-10 16:43:26.456696700 [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;93m2026-06-10 16:43:26.456726401 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-10 16:43:26.969989669 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-10 16:43:26.970023420 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.063907501 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066910246 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066951857 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.89sWARNcontroller_managerOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us + 1.89sWARNros2_control_nodeOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us[0m ×2 + 2.01sINFOobjective_server_node[0;93m2026-06-10 16:43:27.349096611 [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 + 2.03sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367070068 [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 + 2.03sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367103079 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781109808.25474668 seconds ×3 + 2.99sWARNcontroller_managerOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us[0m ×2 + 3.35sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.36sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781109809.01011610 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.86sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us[0m ×2 + 4.65sINFOobjective_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 + 4.66sINFOobjective_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 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Accepted new action goal ×2 + 5.14sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 5.14sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us + 6.24sWARNros2_control_nodeOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732244 ms (missed cycles : 4). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732244 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.1s | 36 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851219 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851219 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.708163 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.708163 ms (missed cycles : 7).[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 5453.436 us (Expected < 1666.667 us) --> Read time : 191.145 us, Update time : 4749.796 us, Write time : 512.495 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 5453.436 us (Expected < 1666.667 us) --> Read time : 191.145 us, Update time : 4749.796 us, Write time : 512.495 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699087 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699087 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 1757.751 us (Expected < 1666.667 us) --> Read time : 123.334 us, Update time : 1279.346 us, Write time : 355.071 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1757.751 us (Expected < 1666.667 us) --> Read time : 123.334 us, Update time : 1279.346 us, Write time : 355.071 us[0m ×2 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155152 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155152 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781109943.44279742 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 5476.826 us (Expected < 1666.667 us) --> Read time : 127.604 us, Update time : 4976.972 us, Write time : 372.250 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 5476.826 us (Expected < 1666.667 us) --> Read time : 127.604 us, Update time : 4976.972 us, Write time : 372.250 us[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781109944.16975951 seconds. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.15sINFOros2_control_node[2026-06-10 16:45:44.384] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-06-10 16:45:44.384] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948425 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948425 ms (missed cycles : 2).[0m ×2 + 4.36sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.36sINFOfoxglove_bridgeRemoving channel 82 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.36sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution" + 4.36sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.36sINFOfoxglove_bridgeRemoving channel 82 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.36sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution"[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1981.937 us (Expected < 1666.667 us) --> Read time : 416.292 us, Update time : 60.612 us, Write time : 1505.033 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1981.937 us (Expected < 1666.667 us) --> Read time : 416.292 us, Update time : 60.612 us, Write time : 1505.033 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139465 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139465 ms (missed cycles : 7).[0m ×2 + 5.72sWARNcontroller_managerOverrun might occur, Total time : 2064.609 us (Expected < 1666.667 us) --> Read time : 108.874 us, Update time : 1686.858 us, Write time : 268.877 us + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 2064.609 us (Expected < 1666.667 us) --> Read time : 108.874 us, Update time : 1686.858 us, Write time : 268.877 us[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002919 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002919 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.1s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6).[0m ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Canceling active goal... ×2 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781109723.90850830 seconds ×3 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781109724.47178173 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781109724.59191728 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781109725.22173405 seconds. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us + 4.89sWARNros2_control_nodeOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190840 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190840 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.1s | 3 errors · 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6).[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us[0m ×2 + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781109986.87827063 seconds ×3 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781109987.43101954 seconds. ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sWARNcontroller_managerOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sWARNros2_control_nodeOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781109987.52135849 seconds ×3 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us + 2.81sWARNros2_control_nodeOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us[0m ×2 + 3.03sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.04sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781109988.08435297 seconds. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781109988.11632943 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781109988.72602963 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sWARNcontroller_managerOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.97sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043915 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043915 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 1682.168 us (Expected < 1666.667 us) --> Read time : 113.603 us, Update time : 67.822 us, Write time : 1500.743 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1682.168 us (Expected < 1666.667 us) --> Read time : 113.603 us, Update time : 67.822 us, Write time : 1500.743 us[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 33 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2).[0m ×2 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us[0m ×2 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1781109954.02992749 seconds ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781109954.89653778 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Accepted new action goal ×2 + 4.12sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.30% of iterations over budget over 4:10.003 of wall time (228/77214). Below 1% is expected on a non-realtime system.[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 33 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[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 : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6).[0m ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Canceling active goal... ×2 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781109723.90850830 seconds ×3 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781109724.47178173 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781109724.59191728 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781109725.22173405 seconds. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us + 4.89sWARNros2_control_nodeOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us[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 : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6).[0m ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Canceling active goal... ×2 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781109723.90850830 seconds ×3 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781109724.47178173 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781109724.59191728 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781109725.22173405 seconds. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us + 4.89sWARNros2_control_nodeOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6).[0m ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Canceling active goal... ×2 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781109723.90850830 seconds ×3 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781109724.47178173 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781109724.59191728 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781109725.22173405 seconds. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us + 4.89sWARNros2_control_nodeOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190840 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190840 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6).[0m ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Canceling active goal... ×2 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781109723.90850830 seconds ×3 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781109724.47178173 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781109724.59191728 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781109725.22173405 seconds. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us + 4.89sWARNros2_control_nodeOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190840 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190840 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2514.121 us (Expected < 1666.667 us) --> Read time : 185.705 us, Update time : 1899.024 us, Write time : 429.392 us[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728012 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.721797 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 3571.312 us (Expected < 1666.667 us) --> Read time : 139.724 us, Update time : 3082.198 us, Write time : 349.390 us[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-06-10 16:42:03.067] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.891988 ms (missed cycles : 6).[0m ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-06-10 16:42:03.884] [info] Canceling active goal... ×2 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781109723.90850830 seconds ×3 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 3470.039 us (Expected < 1666.667 us) --> Read time : 149.114 us, Update time : 3022.937 us, Write time : 297.988 us[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781109724.47178173 seconds. ×3 + 2.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781109724.59191728 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609429 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781109725.22173405 seconds. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.75sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 5340.172 us (Expected < 1666.667 us) --> Read time : 163.864 us, Update time : 4716.384 us, Write time : 459.924 us[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853121 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-06-10 16:42:06.371] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us + 4.89sWARNros2_control_nodeOverrun might occur, Total time : 3661.075 us (Expected < 1666.667 us) --> Read time : 149.845 us, Update time : 3109.349 us, Write time : 401.881 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650958 ms (missed cycles : 7).[0m ×2 + 6.17sWARNcontroller_managerOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us + 6.17sWARNros2_control_nodeOverrun might occur, Total time : 1720.659 us (Expected < 1666.667 us) --> Read time : 252.237 us, Update time : 1155.193 us, Write time : 313.229 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190840 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190840 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us[0m ×2 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us + 1.63sWARNros2_control_nodeOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781109748.96190953 seconds ×3 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781109749.53998113 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781109749.62013960 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5).[0m ×2 + 3.31sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781109750.24371481 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 (2.8e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Accepted new action goal ×2 + 3.81sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.81sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725872 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725872 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 10369.332 us (Expected < 1666.667 us) --> Read time : 155.134 us, Update time : 9728.115 us, Write time : 486.083 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 10369.332 us (Expected < 1666.667 us) --> Read time : 155.134 us, Update time : 9728.115 us, Write time : 486.083 us[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us[0m ×2 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us + 1.63sWARNros2_control_nodeOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781109748.96190953 seconds ×3 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781109749.53998113 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781109749.62013960 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5).[0m ×2 + 3.31sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781109750.24371481 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 (2.8e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Accepted new action goal ×2 + 3.81sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.81sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725872 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725872 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 10369.332 us (Expected < 1666.667 us) --> Read time : 155.134 us, Update time : 9728.115 us, Write time : 486.083 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 10369.332 us (Expected < 1666.667 us) --> Read time : 155.134 us, Update time : 9728.115 us, Write time : 486.083 us[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us[0m ×2 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us + 1.63sWARNros2_control_nodeOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781109748.96190953 seconds ×3 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781109749.53998113 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781109749.62013960 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5).[0m ×2 + 3.31sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781109750.24371481 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 (2.8e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Accepted new action goal ×2 + 3.81sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.81sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725872 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725872 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 10369.332 us (Expected < 1666.667 us) --> Read time : 155.134 us, Update time : 9728.115 us, Write time : 486.083 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 10369.332 us (Expected < 1666.667 us) --> Read time : 155.134 us, Update time : 9728.115 us, Write time : 486.083 us[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099658 ms (missed cycles : 6).[0m ×2 + 0.49sWARNcontroller_managerOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us + 0.49sWARNros2_control_nodeOverrun might occur, Total time : 1783.331 us (Expected < 1666.667 us) --> Read time : 128.234 us, Update time : 1258.315 us, Write time : 396.782 us[0m ×2 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-06-10 16:42:27.685] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025006 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us + 1.63sWARNros2_control_nodeOverrun might occur, Total time : 5852.484 us (Expected < 1666.667 us) --> Read time : 261.427 us, Update time : 4943.499 us, Write time : 647.558 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.533409 ms (missed cycles : 7).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781109748.96190953 seconds ×3 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 5277.119 us (Expected < 1666.667 us) --> Read time : 157.895 us, Update time : 4728.693 us, Write time : 390.531 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781109749.53998113 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781109749.62013960 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306757 ms (missed cycles : 5).[0m ×2 + 3.31sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 67 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781109750.24371481 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 (2.8e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-06-10 16:42:30.347] [info] Accepted new action goal ×2 + 3.81sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.81sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773134 ms (missed cycles : 2).[0m ×2 + 4.24sWARNcontroller_managerOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us + 4.24sWARNros2_control_nodeOverrun might occur, Total time : 1931.725 us (Expected < 1666.667 us) --> Read time : 214.536 us, Update time : 1380.039 us, Write time : 337.150 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095133 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725872 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725872 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 10369.332 us (Expected < 1666.667 us) --> Read time : 155.134 us, Update time : 9728.115 us, Write time : 486.083 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 10369.332 us (Expected < 1666.667 us) --> Read time : 155.134 us, Update time : 9728.115 us, Write time : 486.083 us[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 33 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 33 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 33 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 33 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 33 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 33 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 33 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 33 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 33 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 33 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653587 ms (missed cycles : 4).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 6866.563 us (Expected < 1666.667 us) --> Read time : 105.483 us, Update time : 6263.066 us, Write time : 498.014 us[0m ×2 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-06-10 16:42:38.325] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677754 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 5995.658 us (Expected < 1666.667 us) --> Read time : 140.204 us, Update time : 5320.489 us, Write time : 534.965 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377879 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-06-10 16:42:40.284] [info] Canceling active goal... ×2 + 2.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781109760.29575109 seconds ×3 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.18sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 3554.161 us (Expected < 1666.667 us) --> Read time : 121.373 us, Update time : 3073.077 us, Write time : 359.711 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781109760.86136007 seconds. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.722908 ms (missed cycles : 7).[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution" + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event" + 3.19sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/preview_solution"[0m ×2 + 3.19sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/agent_event"[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 2040.417 us (Expected < 1666.667 us) --> Read time : 187.595 us, Update time : 1311.217 us, Write time : 541.605 us[0m ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-06-10 16:42:42.054] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782456 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us + 5.16sWARNros2_control_nodeOverrun might occur, Total time : 2127.499 us (Expected < 1666.667 us) --> Read time : 150.824 us, Update time : 1612.805 us, Write time : 363.870 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686483 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 33 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4506.578 us (Expected < 1666.667 us) --> Read time : 159.095 us, Update time : 3858.889 us, Write time : 488.594 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4506.578 us (Expected < 1666.667 us) --> Read time : 159.095 us, Update time : 3858.889 us, Write time : 488.594 us[0m ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.558997 ms (missed cycles : 7). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.558997 ms (missed cycles : 7).[0m ×2 + 0.36sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.36sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.36sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.43sINFOobjective_server_nodeFound path in 5 iterations (0.0057877 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOros2_control_node[2026-06-10 16:43:00.106] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-06-10 16:43:00.106] [info] Accepted new action goal ×2 + 0.89sINFOros2_control_node[2026-06-10 16:43:00.498] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-06-10 16:43:00.498] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798786 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798786 ms (missed cycles : 4).[0m ×2 + 2.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133993 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133993 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 2774.379 us (Expected < 1666.667 us) --> Read time : 92.883 us, Update time : 2362.047 us, Write time : 319.449 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 2774.379 us (Expected < 1666.667 us) --> Read time : 92.883 us, Update time : 2362.047 us, Write time : 319.449 us[0m ×2 + 2.77sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.77sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.77sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.77sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1781109782.38506460 seconds ×3 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813746 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813746 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1781109782.99896932 seconds. ×3 + 3.42sWARNcontroller_managerOverrun might occur, Total time : 3237.182 us (Expected < 1666.667 us) --> Read time : 102.113 us, Update time : 45.871 us, Write time : 3089.198 us + 3.42sWARNros2_control_nodeOverrun might occur, Total time : 3237.182 us (Expected < 1666.667 us) --> Read time : 102.113 us, Update time : 45.871 us, Write time : 3089.198 us[0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.55sINFOros2_control_node[2026-06-10 16:43:03.156] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-06-10 16:43:03.156] [info] Accepted new action goal ×2 + 3.79sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.79sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.79sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.79sINFOfoxglove_bridgeRemoving channel 69 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.965395 ms (missed cycles : 6). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.965395 ms (missed cycles : 6).[0m ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 3567.611 us (Expected < 1666.667 us) --> Read time : 139.304 us, Update time : 3074.127 us, Write time : 354.180 us + 4.89sWARNros2_control_nodeOverrun might occur, Total time : 3567.611 us (Expected < 1666.667 us) --> Read time : 139.304 us, Update time : 3074.127 us, Write time : 354.180 us[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946896 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946896 ms (missed cycles : 3).[0m ×2 + 5.91sINFOros2_control_node[2026-06-10 16:43:05.524] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-06-10 16:43:05.524] [info] Accepted new action goal ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621048 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621048 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 36 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.647503 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.647503 ms (missed cycles : 7).[0m ×2 + 0.78sWARNcontroller_managerOverrun might occur, Total time : 3483.537 us (Expected < 1666.667 us) --> Read time : 99.792 us, Update time : 3097.047 us, Write time : 286.698 us + 0.78sWARNros2_control_nodeOverrun might occur, Total time : 3483.537 us (Expected < 1666.667 us) --> Read time : 99.792 us, Update time : 3097.047 us, Write time : 286.698 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928111 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928111 ms (missed cycles : 3).[0m ×2 + 1.81sWARNcontroller_managerOverrun might occur, Total time : 1765.560 us (Expected < 1666.667 us) --> Read time : 316.159 us, Update time : 701.320 us, Write time : 748.081 us + 1.81sWARNros2_control_nodeOverrun might occur, Total time : 1765.560 us (Expected < 1666.667 us) --> Read time : 316.159 us, Update time : 701.320 us, Write time : 748.081 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931069 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931069 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781109794.08814383 seconds ×3 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.79sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128587 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128587 ms (missed cycles : 3).[0m ×2 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us + 3.29sWARNros2_control_nodeOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781109794.70557332 seconds. ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.40sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sWARNcontroller_managerOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781109794.78585100 seconds ×3 + 3.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781109795.33276129 seconds. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3).[0m ×2 + 4.09sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8).[0m ×2 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us[0m ×2 + 6.09sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781109797.46291137 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5).[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 4.128587 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128587 ms (missed cycles : 3).[0m ×2 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us[0m ×2 + 0.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781109794.70557332 seconds. ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.33sWARNcontroller_managerOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.33sWARNros2_control_nodeOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us[0m ×2 + 0.33sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781109794.78585100 seconds ×3 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.88sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781109795.33276129 seconds. ×3 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3).[0m ×2 + 1.01sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781109797.46291137 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781109798.00870657 seconds. ×3 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 3658.553 us (Expected < 1666.667 us) --> Read time : 155.364 us, Update time : 3077.617 us, Write time : 425.572 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 3658.553 us (Expected < 1666.667 us) --> Read time : 155.364 us, Update time : 3077.617 us, Write time : 425.572 us[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.67sINFOros2_control_node[2026-06-10 16:43:18.123] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-06-10 16:43:18.123] [info] Accepted new action goal ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 4.03sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641705 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641705 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun might occur, Total time : 3796.506 us (Expected < 1666.667 us) --> Read time : 185.435 us, Update time : 2972.464 us, Write time : 638.607 us + 4.88sWARNros2_control_nodeOverrun might occur, Total time : 3796.506 us (Expected < 1666.667 us) --> Read time : 185.435 us, Update time : 2972.464 us, Write time : 638.607 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487279 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487279 ms (missed cycles : 4).[0m ×2 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 5287.089 us (Expected < 1666.667 us) --> Read time : 180.505 us, Update time : 4742.224 us, Write time : 364.360 us + 6.11sWARNros2_control_nodeOverrun might occur, Total time : 5287.089 us (Expected < 1666.667 us) --> Read time : 180.505 us, Update time : 4742.224 us, Write time : 364.360 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070023 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070023 ms (missed cycles : 3).[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 4.128587 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128587 ms (missed cycles : 3).[0m ×2 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 4728.243 us (Expected < 1666.667 us) --> Read time : 174.045 us, Update time : 4030.294 us, Write time : 523.904 us[0m ×2 + 0.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781109794.70557332 seconds. ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.32sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.33sWARNcontroller_managerOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.33sWARNros2_control_nodeOverrun might occur, Total time : 2781.118 us (Expected < 1666.667 us) --> Read time : 105.643 us, Update time : 2328.786 us (Switch time : 2295.675 us (Switch chained mode time : 0.440 us, perform mode change time : 2.480 us, Activation time : 2287.154 us, Deactivation time : 0.240 us)), Write time : 346.689 us[0m ×2 + 0.33sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781109794.78585100 seconds ×3 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.88sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781109795.33276129 seconds. ×3 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3).[0m ×2 + 1.01sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-06-10 16:43:15.457] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.357809 ms (missed cycles : 8).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 2476.209 us (Expected < 1666.667 us) --> Read time : 152.534 us, Update time : 1970.605 us, Write time : 353.070 us[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781109797.46291137 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.235851 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781109798.00870657 seconds. ×3 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 3658.553 us (Expected < 1666.667 us) --> Read time : 155.364 us, Update time : 3077.617 us, Write time : 425.572 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 3658.553 us (Expected < 1666.667 us) --> Read time : 155.364 us, Update time : 3077.617 us, Write time : 425.572 us[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.67sINFOros2_control_node[2026-06-10 16:43:18.123] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-06-10 16:43:18.123] [info] Accepted new action goal ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 4.03sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641705 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641705 ms (missed cycles : 4).[0m ×2 + 4.88sWARNcontroller_managerOverrun might occur, Total time : 3796.506 us (Expected < 1666.667 us) --> Read time : 185.435 us, Update time : 2972.464 us, Write time : 638.607 us + 4.88sWARNros2_control_nodeOverrun might occur, Total time : 3796.506 us (Expected < 1666.667 us) --> Read time : 185.435 us, Update time : 2972.464 us, Write time : 638.607 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487279 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487279 ms (missed cycles : 4).[0m ×2 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 5287.089 us (Expected < 1666.667 us) --> Read time : 180.505 us, Update time : 4742.224 us, Write time : 364.360 us + 6.11sWARNros2_control_nodeOverrun might occur, Total time : 5287.089 us (Expected < 1666.667 us) --> Read time : 180.505 us, Update time : 4742.224 us, Write time : 364.360 us[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070023 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070023 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.02sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781109805.36535859 seconds ×3 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781109805.97581768 seconds. ×3 + 0.68sWARNcontroller_managerOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us + 0.68sWARNros2_control_nodeOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us[0m ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.05sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.05sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.12sINFOobjective_server_node[0;93m2026-06-10 16:43:26.456696700 [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;93m2026-06-10 16:43:26.456726401 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-10 16:43:26.969989669 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-10 16:43:26.970023420 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.063907501 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066910246 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066951857 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.89sWARNcontroller_managerOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us + 1.89sWARNros2_control_nodeOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us[0m ×2 + 2.01sINFOobjective_server_node[0;93m2026-06-10 16:43:27.349096611 [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 + 2.03sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367070068 [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 + 2.03sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367103079 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781109808.25474668 seconds ×3 + 2.99sWARNcontroller_managerOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us[0m ×2 + 3.35sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.36sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781109809.01011610 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.86sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us[0m ×2 + 4.65sINFOobjective_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 + 4.66sINFOobjective_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 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Accepted new action goal ×2 + 5.14sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 5.14sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us + 6.24sWARNros2_control_nodeOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.02sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781109805.36535859 seconds ×3 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781109805.97581768 seconds. ×3 + 0.68sWARNcontroller_managerOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us + 0.68sWARNros2_control_nodeOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us[0m ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.05sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.05sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.12sINFOobjective_server_node[0;93m2026-06-10 16:43:26.456696700 [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;93m2026-06-10 16:43:26.456726401 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-10 16:43:26.969989669 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-10 16:43:26.970023420 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.063907501 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066910246 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066951857 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.89sWARNcontroller_managerOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us + 1.89sWARNros2_control_nodeOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us[0m ×2 + 2.01sINFOobjective_server_node[0;93m2026-06-10 16:43:27.349096611 [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 + 2.03sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367070068 [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 + 2.03sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367103079 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781109808.25474668 seconds ×3 + 2.99sWARNcontroller_managerOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us[0m ×2 + 3.35sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.36sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781109809.01011610 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.86sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us[0m ×2 + 4.65sINFOobjective_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 + 4.66sINFOobjective_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 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Accepted new action goal ×2 + 5.14sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 5.14sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us + 6.24sWARNros2_control_nodeOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.02sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781109805.36535859 seconds ×3 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781109805.97581768 seconds. ×3 + 0.68sWARNcontroller_managerOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us + 0.68sWARNros2_control_nodeOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us[0m ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.05sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.05sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.12sINFOobjective_server_node[0;93m2026-06-10 16:43:26.456696700 [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;93m2026-06-10 16:43:26.456726401 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-10 16:43:26.969989669 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-10 16:43:26.970023420 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.063907501 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066910246 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066951857 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.89sWARNcontroller_managerOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us + 1.89sWARNros2_control_nodeOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us[0m ×2 + 2.01sINFOobjective_server_node[0;93m2026-06-10 16:43:27.349096611 [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 + 2.03sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367070068 [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 + 2.03sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367103079 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781109808.25474668 seconds ×3 + 2.99sWARNcontroller_managerOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us[0m ×2 + 3.35sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.36sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781109809.01011610 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.86sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us[0m ×2 + 4.65sINFOobjective_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 + 4.66sINFOobjective_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 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Accepted new action goal ×2 + 5.14sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 5.14sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us + 6.24sWARNros2_control_nodeOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.00sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.02sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781109805.36535859 seconds ×3 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100614 ms (missed cycles : 6).[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781109805.97581768 seconds. ×3 + 0.68sWARNcontroller_managerOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us + 0.68sWARNros2_control_nodeOverrun might occur, Total time : 2165.132 us (Expected < 1666.667 us) --> Read time : 255.828 us, Update time : 30.081 us, Write time : 1879.223 us[0m ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.05sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.05sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.05sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.12sINFOobjective_server_node[0;93m2026-06-10 16:43:26.456696700 [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;93m2026-06-10 16:43:26.456726401 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869740 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-10 16:43:26.969989669 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-10 16:43:26.970023420 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.063907501 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066910246 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-10 16:43:27.066951857 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.89sWARNcontroller_managerOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us + 1.89sWARNros2_control_nodeOverrun might occur, Total time : 3672.244 us (Expected < 1666.667 us) --> Read time : 100.033 us, Update time : 3238.962 us, Write time : 333.249 us[0m ×2 + 2.01sINFOobjective_server_node[0;93m2026-06-10 16:43:27.349096611 [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 + 2.03sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367070068 [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 + 2.03sINFOobjective_server_node[0;93m2026-06-10 16:43:27.367103079 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.202207 ms (missed cycles : 8).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781109808.25474668 seconds ×3 + 2.99sWARNcontroller_managerOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us + 2.99sWARNros2_control_nodeOverrun might occur, Total time : 1982.805 us (Expected < 1666.667 us) --> Read time : 92.423 us, Update time : 1340.307 us, Write time : 550.075 us[0m ×2 + 3.35sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.36sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299011 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781109809.01011610 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 3.86sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 2525.181 us (Expected < 1666.667 us) --> Read time : 109.893 us, Update time : 2069.848 us, Write time : 345.440 us[0m ×2 + 4.65sINFOobjective_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 + 4.66sINFOobjective_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 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612261 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-10 16:43:30.323] [info] Accepted new action goal ×2 + 5.14sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 5.14sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 5375.293 us (Expected < 1666.667 us) --> Read time : 163.875 us, Update time : 4721.324 us, Write time : 490.094 us[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110308 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us + 6.24sWARNros2_control_nodeOverrun might occur, Total time : 3647.173 us (Expected < 1666.667 us) --> Read time : 174.465 us, Update time : 3049.776 us, Write time : 422.932 us[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 2.642110 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642110 ms (missed cycles : 2).[0m ×2 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 2879.214 us (Expected < 1666.667 us) --> Read time : 114.224 us, Update time : 36.812 us, Write time : 2728.178 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 2879.214 us (Expected < 1666.667 us) --> Read time : 114.224 us, Update time : 36.812 us, Write time : 2728.178 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.935516 ms (missed cycles : 9). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.935516 ms (missed cycles : 9).[0m ×2 + 1.80sWARNcontroller_managerOverrun might occur, Total time : 1749.270 us (Expected < 1666.667 us) --> Read time : 76.942 us, Update time : 72.852 us, Write time : 1599.476 us + 1.80sWARNros2_control_nodeOverrun might occur, Total time : 1749.270 us (Expected < 1666.667 us) --> Read time : 76.942 us, Update time : 72.852 us, Write time : 1599.476 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292646 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292646 ms (missed cycles : 2).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.917797 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.917797 ms (missed cycles : 6).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1781109862.94468975 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781109863.56878901 seconds. ×3 + 3.89sWARNcontroller_managerOverrun might occur, Total time : 2299.165 us (Expected < 1666.667 us) --> Read time : 174.205 us, Update time : 1808.921 us, Write time : 316.039 us + 3.89sWARNros2_control_nodeOverrun might occur, Total time : 2299.165 us (Expected < 1666.667 us) --> Read time : 174.205 us, Update time : 1808.921 us, Write time : 316.039 us[0m ×2 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.03sINFOros2_control_node[2026-06-10 16:44:23.722] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-10 16:44:23.722] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151144 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151144 ms (missed cycles : 2).[0m ×2 + 4.27sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 4.27sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058231 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058231 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.30sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 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_admittance_controller ×3 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.38sINFOcontroller_managerSuccessfully switched controllers! + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327186 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327186 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun might occur, Total time : 1941.506 us (Expected < 1666.667 us) --> Read time : 139.624 us, Update time : 1510.363 us, Write time : 291.519 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 1941.506 us (Expected < 1666.667 us) --> Read time : 139.624 us, Update time : 1510.363 us, Write time : 291.519 us[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 234 errors · 39 warnings · 337 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×76 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002178013879 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×152 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002178013879[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032318165602 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032318165602[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034944203301 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034944203301[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030778972243 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030778972243[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010893738751 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010893738751[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010903674469 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010903674469[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006079935927 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006079935927[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001232983035 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001232983035[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001058881767 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001058881767[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007588201699 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007588201699[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015295481113 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015295481113[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014562353359 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014562353359[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080474885462 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080474885462[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051082874880 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051082874880[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069096063952 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069096063952[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056087385847 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056087385847[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061610983709 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061610983709[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064245627392 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064245627392[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037191618823 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037191618823[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061691277830 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061691277830[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056101688538 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056101688538[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041467551518 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041467551518[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036697771029 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036697771029[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034583416179 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034583416179[0m ×2 + 0.32sWARNcontroller_managerOverrun might occur, Total time : 2967.844 us (Expected < 1666.667 us) --> Read time : 2574.023 us, Update time : 73.752 us, Write time : 320.069 us + 0.32sWARNros2_control_nodeOverrun might occur, Total time : 2967.844 us (Expected < 1666.667 us) --> Read time : 2574.023 us, Update time : 73.752 us, Write time : 320.069 us[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037031144855 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037031144855[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024557615857 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024557615857[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019955288240 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019955288240[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018479188493 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018479188493[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023569741503 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023569741503[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021862993050 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021862993050[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015903037863 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015903037863[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019208092760 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019208092760[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016181591931 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016181591931[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016555192916 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016555192916[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015420129203 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015420129203[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017217649773 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017217649773[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014700230288 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014700230288[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018371125953 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018371125953[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017754523727 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017754523727[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014167802531 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014167802531[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014262691476 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014262691476[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016495958660 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016495958660[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016719376615 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016719376615[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010247384769 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010247384769[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010590795472 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010590795472[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011805054447 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011805054447[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011645127486 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011645127486[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012366139404 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012366139404[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008976757394 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008976757394[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017093104595 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017093104595[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011412637987 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011412637987[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795176 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795176 ms (missed cycles : 2).[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017733911746 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017733911746[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016946731954 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016946731954[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017121521600 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017121521600[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018284635572 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018284635572[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017049353629 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017049353629[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016642600658 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016642600658[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014485517283 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014485517283[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014484900818 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014484900818[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015286347810 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015286347810[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012856921883 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012856921883[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015693926355 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015693926355[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015825938098 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015825938098[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009517402178 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009517402178[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011553632084 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011553632084[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013063919435 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013063919435[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011876299325 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011876299325[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004451161411 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004451161411[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005936369646 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005936369646[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006146951440 + 0.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006146951440[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007531873034 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007531873034[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006386505645 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006386505645[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003928727668 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003928727668[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000188680285 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000188680285[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001622117448 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001622117448[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005122524025 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005122524025[0m ×2 + 1.04sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 1.07sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures" + 1.07sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/pcd_pointcloud_captures"[0m ×2 + 1.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 7190.805 us (Expected < 1666.667 us) --> Read time : 100.303 us, Update time : 6561.838 us, Write time : 528.664 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 7190.805 us (Expected < 1666.667 us) --> Read time : 100.303 us, Update time : 6561.838 us, Write time : 528.664 us[0m ×2 + 1.57sERRORobjective_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 + 1.57sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 1.57sINFOfoxglove_bridgeRemoving channel 80 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 1.58sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781109900.83516979 seconds ×3 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046000 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046000 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781109901.41233468 seconds. ×3 + 2.22sINFOobjective_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 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.30sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 2.30sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.31sINFOros2_control_node[2026-06-10 16:45:01.565] [info] Received new action goal ×2 + 2.31sINFOros2_control_node[2026-06-10 16:45:01.565] [info] Accepted new action goal ×2 + 2.42sINFOobjective_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 + 2.44sINFOobjective_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 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.65sWARNcontroller_managerOverrun might occur, Total time : 1722.720 us (Expected < 1666.667 us) --> Read time : 202.276 us, Update time : 1177.454 us, Write time : 342.990 us + 2.65sWARNros2_control_nodeOverrun might occur, Total time : 1722.720 us (Expected < 1666.667 us) --> Read time : 202.276 us, Update time : 1177.454 us, Write time : 342.990 us[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881080 ms (missed cycles : 4). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881080 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781109902.59311247 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737159 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737159 ms (missed cycles : 4).[0m ×2 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 3734.367 us (Expected < 1666.667 us) --> Read time : 172.845 us, Update time : 3132.789 us, Write time : 428.733 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 3734.367 us (Expected < 1666.667 us) --> Read time : 172.845 us, Update time : 3132.789 us, Write time : 428.733 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781109903.17893696 seconds. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-06-10 16:45:03.343] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-06-10 16:45:03.343] [info] Accepted new action goal ×2 + 4.12sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/moveit_pro_ui/switch_primary_view" + 4.12sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358748 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358748 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 5281.510 us (Expected < 1666.667 us) --> Read time : 146.314 us, Update time : 4787.826 us, Write time : 347.370 us + 5.43sWARNros2_control_nodeOverrun might occur, Total time : 5281.510 us (Expected < 1666.667 us) --> Read time : 146.314 us, Update time : 4787.826 us, Write time : 347.370 us[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968649 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968649 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 1735.600 us (Expected < 1666.667 us) --> Read time : 176.196 us, Update time : 36.871 us, Write time : 1522.533 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1735.600 us (Expected < 1666.667 us) --> Read time : 176.196 us, Update time : 36.871 us, Write time : 1522.533 us[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303616 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303616 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 33 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819368 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819368 ms (missed cycles : 3).[0m ×2 + 0.80sWARNcontroller_managerOverrun might occur, Total time : 3700.196 us (Expected < 1666.667 us) --> Read time : 144.815 us, Update time : 3178.621 us, Write time : 376.760 us + 0.80sWARNros2_control_nodeOverrun might occur, Total time : 3700.196 us (Expected < 1666.667 us) --> Read time : 144.815 us, Update time : 3178.621 us, Write time : 376.760 us[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025730 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025730 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020425 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020425 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_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 + 2.19sINFOobjective_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 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 5407.595 us (Expected < 1666.667 us) --> Read time : 166.335 us, Update time : 4839.388 us, Write time : 401.872 us + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 5407.595 us (Expected < 1666.667 us) --> Read time : 166.335 us, Update time : 4839.388 us, Write time : 401.872 us[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939451 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939451 ms (missed cycles : 3).[0m ×2 + 3.22sERRORobjective_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 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1781109914.58065438 seconds ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.54sWARNcontroller_managerOverrun might occur, Total time : 1801.921 us (Expected < 1666.667 us) --> Read time : 391.001 us, Update time : 68.952 us, Write time : 1341.968 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 1801.921 us (Expected < 1666.667 us) --> Read time : 391.001 us, Update time : 68.952 us, Write time : 1341.968 us[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1781109915.18941903 seconds. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOfoxglove_bridgeRemoving channel 81 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 3.93sINFOfoxglove_bridgeRemoving channel 81 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.859166 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.859166 ms (missed cycles : 6).[0m ×2 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 3643.945 us (Expected < 1666.667 us) --> Read time : 113.254 us, Update time : 3181.991 us, Write time : 348.700 us + 4.63sWARNros2_control_nodeOverrun might occur, Total time : 3643.945 us (Expected < 1666.667 us) --> Read time : 113.254 us, Update time : 3181.991 us, Write time : 348.700 us[0m ×2 + 4.90sINFOobjective_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 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 7 iterations (0.00457323 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X__________________________________X___________________________________X] ×2 + 5.05sINFOros2_control_node[2026-06-10 16:45:16.414] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-06-10 16:45:16.414] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792142 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792142 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544160 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544160 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 36 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851219 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851219 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.708163 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.708163 ms (missed cycles : 7).[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 5453.436 us (Expected < 1666.667 us) --> Read time : 191.145 us, Update time : 4749.796 us, Write time : 512.495 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 5453.436 us (Expected < 1666.667 us) --> Read time : 191.145 us, Update time : 4749.796 us, Write time : 512.495 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699087 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699087 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 1757.751 us (Expected < 1666.667 us) --> Read time : 123.334 us, Update time : 1279.346 us, Write time : 355.071 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1757.751 us (Expected < 1666.667 us) --> Read time : 123.334 us, Update time : 1279.346 us, Write time : 355.071 us[0m ×2 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155152 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155152 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781109943.44279742 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 5476.826 us (Expected < 1666.667 us) --> Read time : 127.604 us, Update time : 4976.972 us, Write time : 372.250 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 5476.826 us (Expected < 1666.667 us) --> Read time : 127.604 us, Update time : 4976.972 us, Write time : 372.250 us[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781109944.16975951 seconds. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.15sINFOros2_control_node[2026-06-10 16:45:44.384] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-06-10 16:45:44.384] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948425 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948425 ms (missed cycles : 2).[0m ×2 + 4.36sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.36sINFOfoxglove_bridgeRemoving channel 82 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.36sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution" + 4.36sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.36sINFOfoxglove_bridgeRemoving channel 82 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.36sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution"[0m ×2 + 4.69sWARNcontroller_managerOverrun might occur, Total time : 1981.937 us (Expected < 1666.667 us) --> Read time : 416.292 us, Update time : 60.612 us, Write time : 1505.033 us + 4.69sWARNros2_control_nodeOverrun might occur, Total time : 1981.937 us (Expected < 1666.667 us) --> Read time : 416.292 us, Update time : 60.612 us, Write time : 1505.033 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139465 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139465 ms (missed cycles : 7).[0m ×2 + 5.72sWARNcontroller_managerOverrun might occur, Total time : 2064.609 us (Expected < 1666.667 us) --> Read time : 108.874 us, Update time : 1686.858 us, Write time : 268.877 us + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 2064.609 us (Expected < 1666.667 us) --> Read time : 108.874 us, Update time : 1686.858 us, Write time : 268.877 us[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002919 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002919 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 33 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2).[0m ×2 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us[0m ×2 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1781109954.02992749 seconds ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781109954.89653778 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Accepted new action goal ×2 + 4.12sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.30% of iterations over budget over 4:10.003 of wall time (228/77214). Below 1% is expected on a non-realtime system.[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 33 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2).[0m ×2 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us[0m ×2 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1781109954.02992749 seconds ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781109954.89653778 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Accepted new action goal ×2 + 4.12sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.30% of iterations over budget over 4:10.003 of wall time (228/77214). Below 1% is expected on a non-realtime system.[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 33 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2).[0m ×2 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us[0m ×2 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1781109954.02992749 seconds ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781109954.89653778 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Accepted new action goal ×2 + 4.12sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.30% of iterations over budget over 4:10.003 of wall time (228/77214). Below 1% is expected on a non-realtime system.[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 33 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2).[0m ×2 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us[0m ×2 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1781109954.02992749 seconds ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781109954.89653778 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Accepted new action goal ×2 + 4.12sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.30% of iterations over budget over 4:10.003 of wall time (228/77214). Below 1% is expected on a non-realtime system.[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 33 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2).[0m ×2 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us[0m ×2 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1781109954.02992749 seconds ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781109954.89653778 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Accepted new action goal ×2 + 4.12sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.30% of iterations over budget over 4:10.003 of wall time (228/77214). Below 1% is expected on a non-realtime system.[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 33 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2).[0m ×2 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us[0m ×2 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1781109954.02992749 seconds ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781109954.89653778 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Accepted new action goal ×2 + 4.12sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.30% of iterations over budget over 4:10.003 of wall time (228/77214). Below 1% is expected on a non-realtime system.[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 33 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2).[0m ×2 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us[0m ×2 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1781109954.02992749 seconds ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781109954.89653778 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Accepted new action goal ×2 + 4.12sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.30% of iterations over budget over 4:10.003 of wall time (228/77214). Below 1% is expected on a non-realtime system.[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 33 warnings · 46 info |
+ 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-10 16:45:51.097] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604523 ms (missed cycles : 2).[0m ×2 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 5339.633 us (Expected < 1666.667 us) --> Read time : 169.925 us, Update time : 4776.817 us, Write time : 392.891 us[0m ×2 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852932 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-10 16:45:52.743] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 5331.612 us (Expected < 1666.667 us) --> Read time : 144.224 us, Update time : 4745.146 us, Write time : 442.242 us[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960922 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1781109954.02992749 seconds ×3 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845396 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781109954.89653778 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-06-10 16:45:55.050] [info] Accepted new action goal ×2 + 4.12sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.30% of iterations over budget over 4:10.003 of wall time (228/77214). Below 1% is expected on a non-realtime system.[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.20sINFOfoxglove_bridgeRemoving channel 86 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.20sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 3540.520 us (Expected < 1666.667 us) --> Read time : 123.083 us, Update time : 3081.818 us, Write time : 335.619 us[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946120 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 2061.158 us (Expected < 1666.667 us) --> Read time : 145.144 us, Update time : 1570.695 us, Write time : 345.319 us[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181782 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944173 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 27 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444954 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444954 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276903 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276903 ms (missed cycles : 3).[0m ×2 + 1.81sWARNcontroller_managerOverrun might occur, Total time : 1753.120 us (Expected < 1666.667 us) --> Read time : 162.974 us, Update time : 1311.648 us, Write time : 278.498 us + 1.81sWARNros2_control_nodeOverrun might occur, Total time : 1753.120 us (Expected < 1666.667 us) --> Read time : 162.974 us, Update time : 1311.648 us, Write time : 278.498 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464639 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464639 ms (missed cycles : 2).[0m ×2 + 2.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1781109965.38689661 seconds ×3 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.91sWARNcontroller_managerOverrun might occur, Total time : 5873.388 us (Expected < 1666.667 us) --> Read time : 210.766 us, Update time : 5195.649 us, Write time : 466.973 us + 2.91sWARNros2_control_nodeOverrun might occur, Total time : 5873.388 us (Expected < 1666.667 us) --> Read time : 210.766 us, Update time : 5195.649 us, Write time : 466.973 us[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1781109965.95421314 seconds. ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024141 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024141 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.18sINFOros2_control_node[2026-06-10 16:46:06.185] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-06-10 16:46:06.185] [info] Accepted new action goal ×2 + 3.40sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.40sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008562 ms (missed cycles : 6). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008562 ms (missed cycles : 6).[0m ×2 + 4.83sWARNcontroller_managerOverrun might occur, Total time : 5692.613 us (Expected < 1666.667 us) --> Read time : 177.245 us, Update time : 4949.892 us, Write time : 565.476 us + 4.83sWARNros2_control_nodeOverrun might occur, Total time : 5692.613 us (Expected < 1666.667 us) --> Read time : 177.245 us, Update time : 4949.892 us, Write time : 565.476 us[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017649 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017649 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 36 warnings · 27 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895087 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895087 ms (missed cycles : 3).[0m ×2 + 0.88sWARNcontroller_managerOverrun might occur, Total time : 2364.806 us (Expected < 1666.667 us) --> Read time : 102.452 us, Update time : 1961.266 us, Write time : 301.088 us + 0.88sWARNros2_control_nodeOverrun might occur, Total time : 2364.806 us (Expected < 1666.667 us) --> Read time : 102.452 us, Update time : 1961.266 us, Write time : 301.088 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088482 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.088482 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402347 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402347 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 3752.057 us (Expected < 1666.667 us) --> Read time : 137.454 us, Update time : 3145.170 us, Write time : 469.433 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 3752.057 us (Expected < 1666.667 us) --> Read time : 137.454 us, Update time : 3145.170 us, Write time : 469.433 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567814 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567814 ms (missed cycles : 6).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1781109975.79831886 seconds ×3 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1747.439 us (Expected < 1666.667 us) --> Read time : 151.044 us, Update time : 70.812 us, Write time : 1525.583 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 1747.439 us (Expected < 1666.667 us) --> Read time : 151.044 us, Update time : 70.812 us, Write time : 1525.583 us[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1781109976.37805462 seconds. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846153 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846153 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.13sINFOros2_control_node[2026-06-10 16:46:16.482] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-06-10 16:46:16.482] [info] Accepted new action goal ×2 + 4.46sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/preview_solution" + 4.46sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/preview_solution"[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457257 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457257 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun might occur, Total time : 2865.472 us (Expected < 1666.667 us) --> Read time : 128.254 us, Update time : 49.041 us, Write time : 2688.177 us + 5.43sWARNros2_control_nodeOverrun might occur, Total time : 2865.472 us (Expected < 1666.667 us) --> Read time : 128.254 us, Update time : 49.041 us, Write time : 2688.177 us[0m ×2 + 6.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163600 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163600 ms (missed cycles : 3).[0m ×2 + 6.92sWARNcontroller_managerOverrun might occur, Total time : 7284.130 us (Expected < 1666.667 us) --> Read time : 123.094 us, Update time : 6769.424 us, Write time : 391.612 us + 6.92sWARNros2_control_nodeOverrun might occur, Total time : 7284.130 us (Expected < 1666.667 us) --> Read time : 123.094 us, Update time : 6769.424 us, Write time : 391.612 us[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754770 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754770 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7).[0m ×2 + 1.39sWARNcontroller_managerOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us + 1.39sWARNros2_control_nodeOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us[0m ×2 + 3.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781109986.87827063 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781109987.43101954 seconds. ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sWARNcontroller_managerOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sWARNros2_control_nodeOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781109987.52135849 seconds ×3 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us + 3.84sWARNros2_control_nodeOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us[0m ×2 + 4.06sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.06sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781109988.08435297 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_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 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781109988.11632943 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781109988.72602963 seconds. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us[0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.99sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754770 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754770 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7).[0m ×2 + 1.39sWARNcontroller_managerOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us + 1.39sWARNros2_control_nodeOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us[0m ×2 + 3.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781109986.87827063 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781109987.43101954 seconds. ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sWARNcontroller_managerOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sWARNros2_control_nodeOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781109987.52135849 seconds ×3 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us + 3.84sWARNros2_control_nodeOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us[0m ×2 + 4.06sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.06sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781109988.08435297 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_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 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781109988.11632943 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781109988.72602963 seconds. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us[0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.99sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754770 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754770 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7).[0m ×2 + 1.39sWARNcontroller_managerOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us + 1.39sWARNros2_control_nodeOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us[0m ×2 + 3.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781109986.87827063 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781109987.43101954 seconds. ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sWARNcontroller_managerOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sWARNros2_control_nodeOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781109987.52135849 seconds ×3 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us + 3.84sWARNros2_control_nodeOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us[0m ×2 + 4.06sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.06sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781109988.08435297 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_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 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781109988.11632943 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781109988.72602963 seconds. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us[0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.99sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754770 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754770 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 7274.538 us (Expected < 1666.667 us) --> Read time : 162.445 us, Update time : 66.442 us, Write time : 7045.651 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7).[0m ×2 + 1.39sWARNcontroller_managerOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us + 1.39sWARNros2_control_nodeOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us + 2.57sWARNros2_control_nodeOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us[0m ×2 + 3.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781109986.87827063 seconds ×3 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.05sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781109987.43101954 seconds. ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sWARNcontroller_managerOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sWARNros2_control_nodeOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781109987.52135849 seconds ×3 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us + 3.84sWARNros2_control_nodeOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us[0m ×2 + 4.06sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.06sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781109988.08435297 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_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 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781109988.11632943 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781109988.72602963 seconds. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sWARNcontroller_managerOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us + 4.94sWARNros2_control_nodeOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us[0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.99sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.747532 ms (missed cycles : 7).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 5420.494 us (Expected < 1666.667 us) --> Read time : 135.383 us, Update time : 4823.388 us, Write time : 461.723 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012009 ms (missed cycles : 6).[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 3736.277 us (Expected < 1666.667 us) --> Read time : 148.274 us, Update time : 3262.584 us, Write time : 325.419 us[0m ×2 + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781109986.87827063 seconds ×3 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.03sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113688 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781109987.43101954 seconds. ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sWARNcontroller_managerOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sWARNros2_control_nodeOverrun might occur, Total time : 4047.806 us (Expected < 1666.667 us) --> Read time : 265.088 us, Update time : 3257.363 us (Switch time : 3187.552 us (Switch chained mode time : 0.490 us, perform mode change time : 5.391 us, Activation time : 3175.980 us, Deactivation time : 0.550 us)), Write time : 525.355 us[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781109987.52135849 seconds ×3 + 2.81sWARNcontroller_managerOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us + 2.81sWARNros2_control_nodeOverrun might occur, Total time : 2922.974 us (Expected < 1666.667 us) --> Read time : 136.364 us, Update time : 2491.971 us, Write time : 294.639 us[0m ×2 + 3.03sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.04sINFOfoxglove_bridgeRemoving channel 87 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781109988.08435297 seconds. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040149 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781109988.11632943 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781109988.72602963 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sWARNcontroller_managerOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us + 3.92sWARNros2_control_nodeOverrun might occur, Total time : 2756.489 us (Expected < 1666.667 us) --> Read time : 107.993 us, Update time : 2136.841 us, Write time : 511.655 us[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.97sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-10 16:46:28.829] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094878 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 5370.833 us (Expected < 1666.667 us) --> Read time : 119.673 us, Update time : 4860.599 us, Write time : 390.561 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406664 ms (missed cycles : 5).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043915 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043915 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 1682.168 us (Expected < 1666.667 us) --> Read time : 113.603 us, Update time : 67.822 us, Write time : 1500.743 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1682.168 us (Expected < 1666.667 us) --> Read time : 113.603 us, Update time : 67.822 us, Write time : 1500.743 us[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 39 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.039057 ms (missed cycles : 12). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.039057 ms (missed cycles : 12).[0m ×2 + 0.80sWARNcontroller_managerOverrun might occur, Total time : 3589.353 us (Expected < 1666.667 us) --> Read time : 104.513 us, Update time : 3174.261 us, Write time : 310.579 us + 0.80sWARNros2_control_nodeOverrun might occur, Total time : 3589.353 us (Expected < 1666.667 us) --> Read time : 104.513 us, Update time : 3174.261 us, Write time : 310.579 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035283 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035283 ms (missed cycles : 2).[0m ×2 + 1.96sWARNcontroller_managerOverrun might occur, Total time : 3365.947 us (Expected < 1666.667 us) --> Read time : 102.473 us, Update time : 2912.153 us, Write time : 351.321 us + 1.96sWARNros2_control_nodeOverrun might occur, Total time : 3365.947 us (Expected < 1666.667 us) --> Read time : 102.473 us, Update time : 2912.153 us, Write time : 351.321 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849702 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849702 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us[0m ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3).[0m ×2 + 3.53sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Got request to cancel active goal. ×2 + 3.53sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781109998.80474329 seconds ×3 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.55sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781109999.36629558 seconds. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2).[0m ×2 + 4.56sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 4.56sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781110000.14651370 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us + 5.29sWARNros2_control_nodeOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781110000.68956804 seconds. ×3 + 5.43sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.43sINFOobjective_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 + 5.43sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.43sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781110000.69099307 seconds ×3 + 5.57sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.57sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 5.57sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.57sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781110001.23769712 seconds. ×3 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781110001.23818445 seconds ×3 + 6.07sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 6.07sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781110001.93789792 seconds. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 39 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.039057 ms (missed cycles : 12). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.039057 ms (missed cycles : 12).[0m ×2 + 0.80sWARNcontroller_managerOverrun might occur, Total time : 3589.353 us (Expected < 1666.667 us) --> Read time : 104.513 us, Update time : 3174.261 us, Write time : 310.579 us + 0.80sWARNros2_control_nodeOverrun might occur, Total time : 3589.353 us (Expected < 1666.667 us) --> Read time : 104.513 us, Update time : 3174.261 us, Write time : 310.579 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035283 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035283 ms (missed cycles : 2).[0m ×2 + 1.96sWARNcontroller_managerOverrun might occur, Total time : 3365.947 us (Expected < 1666.667 us) --> Read time : 102.473 us, Update time : 2912.153 us, Write time : 351.321 us + 1.96sWARNros2_control_nodeOverrun might occur, Total time : 3365.947 us (Expected < 1666.667 us) --> Read time : 102.473 us, Update time : 2912.153 us, Write time : 351.321 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849702 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849702 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun might occur, Total time : 4119.388 us (Expected < 1666.667 us) --> Read time : 734.391 us, Update time : 3007.436 us, Write time : 377.561 us[0m ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435632 ms (missed cycles : 3).[0m ×2 + 3.53sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Got request to cancel active goal. ×2 + 3.53sINFOros2_control_node[2026-06-10 16:46:38.786] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781109998.80474329 seconds ×3 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.55sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781109999.36629558 seconds. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179203 ms (missed cycles : 2).[0m ×2 + 4.56sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event" + 4.56sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/agent_event"[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781110000.14651370 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896279 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us + 5.29sWARNros2_control_nodeOverrun might occur, Total time : 3742.148 us (Expected < 1666.667 us) --> Read time : 145.675 us, Update time : 3160.471 us, Write time : 436.002 us[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781110000.68956804 seconds. ×3 + 5.43sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.43sINFOobjective_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 + 5.43sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.43sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781110000.69099307 seconds ×3 + 5.57sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.57sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg" + 5.57sINFOfoxglove_bridgeRemoving channel 88 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.57sINFOfoxglove_bridgeAdvertising new channel 89 for topic "/secret_msg"[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781110001.23769712 seconds. ×3 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781110001.23818445 seconds ×3 + 6.07sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String) + 6.07sINFOfoxglove_bridgeRemoving channel 89 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750812 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 5842.177 us (Expected < 1666.667 us) --> Read time : 153.855 us, Update time : 5217.649 us, Write time : 470.673 us[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781110001.93789792 seconds. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [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 | 6.8s | 55 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/2026-06-10-16-41-40-892142-b11139c9c081-9799 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.05sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.07sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.07sINFOcontroller_managerupdate rate is 600 Hz + 1.07sINFOcontroller_managerOverruns handling is : enabled + 1.07sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.07sWARNcontroller_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. + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451194 ms (missed cycles : 4). + 1.17sINFOros2_control_node-1process started with pid [9846] ×2 + 1.17sINFOmove_group-9process started with pid [9872] ×2 + 1.17sINFOparameter_manager_node-10process started with pid [9873] ×2 + 1.17sINFOwaypoint_manager_node-11process started with pid [9874] ×2 + 1.18sINFOmove_joint_resampler_node-12process started with pid [9875] ×2 + 1.18sINFOmove_end_effector_resampler_node-13process started with pid [9876] ×2 + 1.18sINFOobjective_server_node_main-14process started with pid [9877] ×2 + 1.18sINFOcomponent_container_mt-15process started with pid [9878] ×2 + 1.18sINFOexecute_objective_bridge-16process started with pid [9879] ×2 + 1.18sINFOui_teleop_bridge-17process started with pid [9880] ×2 + 1.18sINFOfoxglove_bridge-18process started with pid [9881] ×2 + 1.18sINFOtf2_web_republisher_node-19process started with pid [9882] ×2 + 1.18sINFOweb_video_server-20process started with pid [9992] ×2 + 1.19sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9847] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9848] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9849] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9850] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9854] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9856] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9857] ×2 + 1.20sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.20sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.20sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.20sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.20sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.20sWARNros2_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 + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451194 ms (missed cycles : 4).[0m ×2 + 1.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.24sINFOcontroller_managerReceived robot description from topic. + 1.24sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.24sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 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 + 1.26sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.27sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.35sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.35sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.35sINFOfoxglove_bridgeServer listening on port 3201 + 1.35sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.37sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state" + 1.38sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint" + 1.39sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 1.39sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values" + 1.39sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values"[0m ×2 + 1.40sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full" + 1.40sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full"[0m ×2 + 1.40sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf" + 1.40sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics" + 1.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values" + 1.41sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description" + 1.41sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names" + 1.41sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full" + 1.41sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity" + 1.42sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names" + 1.42sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint" + 1.42sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" + 1.42sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout" + 1.42sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout"[0m ×2 + 1.43sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events" + 1.43sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events"[0m ×2 + 1.43sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector" + 1.43sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector"[0m ×2 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.53sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 1.54sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 1.90sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic" + 1.90sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic"[0m ×2 + 1.90sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/joint_states" + 1.90sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/joint_states"[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881284 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881284 ms (missed cycles : 6).[0m ×2 + 2.35sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.38sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.38sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.38sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.38sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.41sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.48sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.48sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.48sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.48sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.48sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.48sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.49sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world" + 2.49sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene" + 2.51sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.51sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 2.51sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 2.51sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 2.51sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 3.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.37sINFOobjective_server_node[2026-06-10 16:41:44.851] [moveit_pro_license] [info] ×2 + 3.37sINFOobjective_server_node************************************************* ×4 + 3.37sINFOobjective_server_node* MoveIt Pro License ×2 + 3.37sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.62sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics" + 3.62sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics"[0m ×2 + 3.62sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector" + 3.62sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/failure_reason_collector"[0m ×2 + 3.63sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description" + 3.63sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/description"[0m ×2 + 3.71sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.71sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.71sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.71sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.71sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.71sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.72sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.72sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.72sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.72sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.72sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.72sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.72sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.78sINFOobjective_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 + 3.78sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.79sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.79sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.79sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.79sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.79sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.79sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.79sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.79sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.85sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.85sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.85sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.85sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 3.86sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 3.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.87sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 3.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 3.87sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.87sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.87sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.88sWARNcontroller_managerOverrun might occur, Total time : 3507.406 us (Expected < 1666.667 us) --> Read time : 81.902 us, Update time : 3192.347 us (Switch time : 3184.887 us (Switch chained mode time : 1.500 us, perform mode change time : 4.380 us, Activation time : 3172.657 us, Deactivation time : 1.050 us)), Write time : 233.157 us + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632469 ms (missed cycles : 3). + 3.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 3507.406 us (Expected < 1666.667 us) --> Read time : 81.902 us, Update time : 3192.347 us (Switch time : 3184.887 us (Switch chained mode time : 1.500 us, perform mode change time : 4.380 us, Activation time : 3172.657 us, Deactivation time : 1.050 us)), Write time : 233.157 us[0m ×2 + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632469 ms (missed cycles : 3).[0m ×2 + 3.88sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 3.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 4.15sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.15sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.15sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.15sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9848] ×2 + 4.20sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/points" + 4.20sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/wrist_camera/points"[0m ×2 + 4.20sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/depth" + 4.20sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/color" + 4.20sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/wrist_camera/depth"[0m ×2 + 4.20sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/wrist_camera/color"[0m ×2 + 4.21sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/visual_markers" + 4.21sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/visual_markers"[0m ×2 + 4.21sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/transient_monitored_planning_scene_without_octomap" + 4.21sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/depth" + 4.21sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color" + 4.21sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 4.21sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/scene_camera/depth"[0m ×2 + 4.21sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color"[0m ×2 + 4.21sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info" + 4.21sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/points" + 4.21sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/camera_info" + 4.21sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/scene_camera/camera_info"[0m ×2 + 4.21sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/scene_camera/points"[0m ×2 + 4.21sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/camera_info"[0m ×2 + 4.21sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/robotiq_gripper_controller/transition_event" + 4.21sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/blackboard_contents" + 4.21sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 4.22sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/behavior_tree_status" + 4.22sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/blackboard_contents"[0m ×2 + 4.22sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/behavior_tree_status"[0m ×2 + 4.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 4.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 4.31sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 4.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 4.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.34sINFOros2_control_node[2026-06-10 16:41:45.823] [info] Controller state will be published at 10 Hz. ×2 + 4.34sINFOros2_control_node[2026-06-10 16:41:45.824] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.54sWARNobjective_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 + 4.56sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 4.61sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.61sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.62sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 4.62sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 4.62sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 4.62sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 4.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9856] ×2 + 4.65sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 4.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 4.65sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.65sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.65sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 4.65sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 4.65sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 4.65sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.65sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.65sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 4.65sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 4.65sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 4.66sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.67sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 4.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 4.69sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 4.70sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 4.70sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 4.70sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 4.70sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 4.70sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 4.76sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 4.81sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 4.85sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event" + 4.85sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/velocity_force_controller/transition_event"[0m ×2 + 4.85sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command" + 4.85sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event" + 4.85sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_state_broadcaster/transition_event" + 4.85sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/velocity_force_controller/command"[0m ×2 + 4.85sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/trajectory_execution_event"[0m ×2 + 4.85sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 4.85sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states" + 4.85sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/dynamic_joint_states"[0m ×2 + 4.85sINFOmove_group ×4 + 4.85sINFOmove_group[92mYou can start planning now![0m ×2 + 4.85sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/velocity_force_controller/controller_state" + 4.85sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/velocity_force_controller/controller_state"[0m ×2 + 4.95sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.95sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.95sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.95sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9849] ×2 + 5.01sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 5.02sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 5.05sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 5.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 5.05sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.08sINFOros2_control_node[2026-06-10 16:41:46.561] [info] Controller state will be published at 20 Hz. ×2 + 5.08sINFOros2_control_node[2026-06-10 16:41:46.562] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 5.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484648 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484648 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9857] ×2 + 5.44sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 5.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 5.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.45sINFOforce_torque_sensor_broadcasterconfigure successful + 5.45sINFOros2_control_nodeconfigure successful[0m ×2 + 5.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.46sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 5.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 5.47sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.47sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/controller_state" + 5.47sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 5.47sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 5.47sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 5.47sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 5.47sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench" + 5.47sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/transition_event" + 5.47sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command" + 5.47sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 5.47sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 5.47sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 5.47sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command"[0m ×2 + 5.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 5.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 5.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9847] ×2 + 5.76sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.76sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.76sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.76sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.76sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 5.76sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 5.82sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 5.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 5.82sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.82sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.82sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.82sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.82sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.82sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.82sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.83sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.83sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.83sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.83sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 5.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 6.02sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/transition_event" + 6.02sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 6.03sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/speed_scaling_input" + 6.03sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 6.03sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/joint_trajectory" + 6.03sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 6.03sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/controller_state" + 6.03sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 6.14sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.14sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.14sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.14sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9850] ×2 + 6.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781109707.66281962 seconds. ×3 + 6.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781109707.67298651 seconds ×3 + 6.21sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 6.21sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 6.24sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 6.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 6.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.25sINFOros2_control_node[2026-06-10 16:41:47.726] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.25sINFOros2_control_node[2026-06-10 16:41:47.726] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.27sINFOros2_control_node[2026-06-10 16:41:47.748] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.27sINFOros2_control_node[2026-06-10 16:41:47.748] [info] Controller state will be published at 50 Hz. ×2 + 6.27sINFOros2_control_node[2026-06-10 16:41:47.752] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9854] ×2 + 6.57sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event" + 6.57sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state" + 6.57sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 6.57sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 6.57sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 6.57sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 6.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781109708.21475029 seconds. ×3 + 6.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5).[0m ×2 + 7.09sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 7.09sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 7.14sWARNcontroller_managerOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us + 7.14sWARNros2_control_nodeOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us[0m ×2 + 7.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 8.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 8.66sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 8.66sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 9.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 9.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 9.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 10.16sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 10.16sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 42 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 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 3.07sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.28sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.98sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 6.24sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 6.65sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 7.33sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 7.33sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 7.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.45sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 7.46sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.47sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 7.47sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 39 warnings · 131 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9854] ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.01sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.01sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 0.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781109708.21475029 seconds. ×3 + 0.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5).[0m ×2 + 0.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.58sWARNcontroller_managerOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us + 0.58sWARNros2_control_nodeOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.79sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.81sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 4.83sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 4.83sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 5.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 5.50sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 5.50sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 6.76sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 6.77sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 7.18sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[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/2026-06-10-16-41-40-892142-b11139c9c081-9799 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.05sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.07sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.07sINFOcontroller_managerupdate rate is 600 Hz + 1.07sINFOcontroller_managerOverruns handling is : enabled + 1.07sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.07sWARNcontroller_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. + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451194 ms (missed cycles : 4). + 1.17sINFOros2_control_node-1process started with pid [9846] ×2 + 1.17sINFOmove_group-9process started with pid [9872] ×2 + 1.17sINFOparameter_manager_node-10process started with pid [9873] ×2 + 1.17sINFOwaypoint_manager_node-11process started with pid [9874] ×2 + 1.18sINFOmove_joint_resampler_node-12process started with pid [9875] ×2 + 1.18sINFOmove_end_effector_resampler_node-13process started with pid [9876] ×2 + 1.18sINFOobjective_server_node_main-14process started with pid [9877] ×2 + 1.18sINFOcomponent_container_mt-15process started with pid [9878] ×2 + 1.18sINFOexecute_objective_bridge-16process started with pid [9879] ×2 + 1.18sINFOui_teleop_bridge-17process started with pid [9880] ×2 + 1.18sINFOfoxglove_bridge-18process started with pid [9881] ×2 + 1.18sINFOtf2_web_republisher_node-19process started with pid [9882] ×2 + 1.18sINFOweb_video_server-20process started with pid [9992] ×2 + 1.19sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9847] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9848] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9849] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9850] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9854] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9856] ×2 + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9857] ×2 + 1.20sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.20sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.20sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.20sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.20sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.20sWARNros2_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 + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451194 ms (missed cycles : 4).[0m ×2 + 1.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.24sINFOcontroller_managerReceived robot description from topic. + 1.24sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.24sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 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 + 1.26sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.27sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.35sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.35sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.35sINFOfoxglove_bridgeServer listening on port 3201 + 1.35sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.37sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state" + 1.38sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint" + 1.39sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.39sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 1.39sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 1.39sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values" + 1.39sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values"[0m ×2 + 1.40sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full" + 1.40sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full"[0m ×2 + 1.40sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf" + 1.40sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics" + 1.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values" + 1.41sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description" + 1.41sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names" + 1.41sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full" + 1.41sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names"[0m ×2 + 1.41sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity" + 1.42sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names" + 1.42sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint" + 1.42sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" + 1.42sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 + 1.42sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout" + 1.42sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout"[0m ×2 + 1.43sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events" + 1.43sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events"[0m ×2 + 1.43sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector" + 1.43sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector"[0m ×2 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 1.53sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 1.53sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 1.54sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 1.54sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 1.90sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic" + 1.90sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/robot_description_semantic"[0m ×2 + 1.90sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/joint_states" + 1.90sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/joint_states"[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881284 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881284 ms (missed cycles : 6).[0m ×2 + 2.35sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.38sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.38sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.38sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.38sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.41sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.48sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.48sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.48sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.48sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.48sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.48sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.49sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world" + 2.49sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene" + 2.51sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.51sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 2.51sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 2.51sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 2.51sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 2.51sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 3.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.37sINFOobjective_server_node[2026-06-10 16:41:44.851] [moveit_pro_license] [info] ×2 + 3.37sINFOobjective_server_node************************************************* ×4 + 3.37sINFOobjective_server_node* MoveIt Pro License ×2 + 3.37sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 33 warnings · 268 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9849] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.13sINFOros2_control_node[2026-06-10 16:41:46.561] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-06-10 16:41:46.562] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484648 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484648 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9857] ×2 + 0.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.50sINFOforce_torque_sensor_broadcasterconfigure successful + 0.50sINFOros2_control_nodeconfigure successful[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.51sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.51sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.52sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/controller_state" + 0.52sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 0.52sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.52sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench" + 0.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.52sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command" + 0.52sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command"[0m ×2 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9847] ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.87sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.88sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.88sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.89sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 1.07sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/transition_event" + 1.07sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/speed_scaling_input" + 1.08sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/joint_trajectory" + 1.08sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/controller_state" + 1.08sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.19sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9850] ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781109707.66281962 seconds. ×3 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781109707.67298651 seconds ×3 + 1.26sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 1.26sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 1.29sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.30sINFOros2_control_node[2026-06-10 16:41:47.726] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.30sINFOros2_control_node[2026-06-10 16:41:47.726] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.32sINFOros2_control_node[2026-06-10 16:41:47.748] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.32sINFOros2_control_node[2026-06-10 16:41:47.748] [info] Controller state will be published at 50 Hz. ×2 + 1.32sINFOros2_control_node[2026-06-10 16:41:47.752] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9854] ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.62sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.62sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.62sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781109708.21475029 seconds. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5).[0m ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 5.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 5.21sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.42sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.43sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 33 warnings · 268 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9849] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.13sINFOros2_control_node[2026-06-10 16:41:46.561] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-06-10 16:41:46.562] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484648 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484648 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9857] ×2 + 0.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.50sINFOforce_torque_sensor_broadcasterconfigure successful + 0.50sINFOros2_control_nodeconfigure successful[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.51sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.51sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.52sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/controller_state" + 0.52sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 0.52sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.52sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench" + 0.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.52sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command" + 0.52sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command"[0m ×2 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9847] ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.87sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.88sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.88sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.89sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 1.07sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/transition_event" + 1.07sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/speed_scaling_input" + 1.08sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/joint_trajectory" + 1.08sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/controller_state" + 1.08sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.19sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9850] ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781109707.66281962 seconds. ×3 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781109707.67298651 seconds ×3 + 1.26sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 1.26sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 1.29sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.30sINFOros2_control_node[2026-06-10 16:41:47.726] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.30sINFOros2_control_node[2026-06-10 16:41:47.726] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.32sINFOros2_control_node[2026-06-10 16:41:47.748] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.32sINFOros2_control_node[2026-06-10 16:41:47.748] [info] Controller state will be published at 50 Hz. ×2 + 1.32sINFOros2_control_node[2026-06-10 16:41:47.752] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9854] ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.62sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.62sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.62sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781109708.21475029 seconds. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5).[0m ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 5.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 5.21sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.42sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.43sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 33 warnings · 268 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9849] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.13sINFOros2_control_node[2026-06-10 16:41:46.561] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-06-10 16:41:46.562] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484648 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484648 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9857] ×2 + 0.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.50sINFOforce_torque_sensor_broadcasterconfigure successful + 0.50sINFOros2_control_nodeconfigure successful[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.51sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.51sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.52sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/controller_state" + 0.52sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event" + 0.52sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 0.52sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench" + 0.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/transition_event" + 0.52sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command" + 0.52sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 0.52sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command"[0m ×2 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9847] ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 0.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 0.87sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.88sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.88sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.89sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 1.07sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/transition_event" + 1.07sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/speed_scaling_input" + 1.08sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/joint_trajectory" + 1.08sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 1.08sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/controller_state" + 1.08sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.19sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9850] ×2 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781109707.66281962 seconds. ×3 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781109707.67298651 seconds ×3 + 1.26sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww + 1.26sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ltrkauo --params-file /tmp/launch_params_08hnrbms --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_vkonwt5b --params-file /tmp/launch_params_5kgbpnww [0m ×2 + 1.29sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.30sINFOros2_control_node[2026-06-10 16:41:47.726] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.30sINFOros2_control_node[2026-06-10 16:41:47.726] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.32sINFOros2_control_node[2026-06-10 16:41:47.748] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.32sINFOros2_control_node[2026-06-10 16:41:47.748] [info] Controller state will be published at 50 Hz. ×2 + 1.32sINFOros2_control_node[2026-06-10 16:41:47.752] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9854] ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.62sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.62sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.62sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.62sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781109708.21475029 seconds. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5).[0m ×2 + 2.14sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.14sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.19sWARNcontroller_managerOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us + 2.19sWARNros2_control_nodeOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 5.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 5.21sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.42sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.43sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 39 warnings · 129 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9854] ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event" + 0.01sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state" + 0.01sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 0.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 0.01sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781109708.21475029 seconds. ×3 + 0.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283375 ms (missed cycles : 5).[0m ×2 + 0.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.53sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.58sWARNcontroller_managerOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us + 0.58sWARNros2_control_nodeOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.79sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.81sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 4.83sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 4.83sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 5.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 5.41sINFOobjective_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 + 5.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 5.50sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 5.50sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 6.76sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 6.77sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 36 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 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us + 0.05sWARNros2_control_nodeOverrun might occur, Total time : 3009.776 us (Expected < 1666.667 us) --> Read time : 125.274 us, Update time : 2599.614 us, Write time : 284.888 us[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 3.07sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.28sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.98sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 6.24sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 6.65sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [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 | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [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: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725759 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725759 ms (missed cycles : 2).[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 | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [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 | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 39 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781109709.32489872 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309339 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781109709.89953852 seconds. ×3 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sWARNcontroller_managerOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us + 0.82sWARNros2_control_nodeOverrun might occur, Total time : 1779.071 us (Expected < 1666.667 us) --> Read time : 182.435 us, Update time : 1153.313 us, Write time : 443.323 us[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333611 ms (missed cycles : 6).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781109710.90969515 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781109711.45043397 seconds. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781109711.47516084 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241332 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2038.398 us (Expected < 1666.667 us) --> Read time : 141.764 us, Update time : 57.842 us, Write time : 1838.792 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781109712.02791071 seconds. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781109712.17887354 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360595 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781109712.80895019 seconds. ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2997.925 us (Expected < 1666.667 us) --> Read time : 106.123 us, Update time : 2595.024 us (Switch time : 2570.953 us (Switch chained mode time : 0.450 us, perform mode change time : 1.989 us, Activation time : 2563.872 us, Deactivation time : 0.311 us)), Write time : 296.778 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781109712.86919236 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 3585.592 us (Expected < 1666.667 us) --> Read time : 126.053 us, Update time : 3087.548 us, Write time : 371.991 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781109713.43339801 seconds. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6). + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.6071e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442717 ms (missed cycles : 6).[0m ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-10 16:41:53.548] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072695 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 4315.982 us (Expected < 1666.667 us) --> Read time : 120.603 us, Update time : 3822.879 us, Write time : 372.500 us[0m ×2 + 5.90sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.06% of iterations over budget over 0:10.000 of wall time (2/3173). Below 1% is expected on a non-realtime system.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265475 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 1715.749 us (Expected < 1666.667 us) --> Read time : 168.165 us, Update time : 1239.205 us, Write time : 308.379 us[0m ×2 + 6.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.71sINFOros2_control_node[2026-06-10 16:41:56.038] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-06-10 16:41:56.039] [info] Accepted new action goal ×2 | ||||