67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
24.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.2s | 3 errors · 393 warnings · 256 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.722ms ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758574 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758574 ms (missed cycles : 2).[0m ×2 + 0.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.787ms + 0.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.742ms + 0.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.822ms + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1813.835 us (Expected < 1666.667 us) --> Read time : 161.353 us, Update time : 1004.430 us, Write time : 648.052 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1813.835 us (Expected < 1666.667 us) --> Read time : 161.353 us, Update time : 1004.430 us, Write time : 648.052 us[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.148ms + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.785ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563261 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563261 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.983ms + 1.66sWARNcontroller_managerOverrun might occur, Total time : 2066.070 us (Expected < 1666.667 us) --> Read time : 175.654 us, Update time : 1568.330 us, Write time : 322.086 us + 1.66sWARNros2_control_nodeOverrun might occur, Total time : 2066.070 us (Expected < 1666.667 us) --> Read time : 175.654 us, Update time : 1568.330 us, Write time : 322.086 us[0m ×2 + 1.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.439ms + 2.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.011ms + 2.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.885ms + 2.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.892ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427494 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427494 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 4708.171 us (Expected < 1666.667 us) --> Read time : 249.445 us, Update time : 4133.570 us, Write time : 325.156 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 4708.171 us (Expected < 1666.667 us) --> Read time : 249.445 us, Update time : 4133.570 us, Write time : 325.156 us[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.953ms + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870662 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870662 ms (missed cycles : 4).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.838ms + 3.75sWARNcontroller_managerOverrun might occur, Total time : 1885.686 us (Expected < 1666.667 us) --> Read time : 155.583 us, Update time : 978.649 us, Write time : 751.454 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 1885.686 us (Expected < 1666.667 us) --> Read time : 155.583 us, Update time : 978.649 us, Write time : 751.454 us[0m ×2 + 3.79sINFOjoint_trajectory_controllerGot request to cancel goal + 3.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.79sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781206106.26966190 seconds ×3 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.724ms ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.632ms ×2 + 4.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781206106.80713177 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399605 ms (missed cycles : 7). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399605 ms (missed cycles : 7).[0m ×2 + 4.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.203ms + 4.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.209ms + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.011ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.854ms + 5.03sWARNcontroller_managerOverrun might occur, Total time : 3382.165 us (Expected < 1666.667 us) --> Read time : 154.453 us, Update time : 78.531 us, Write time : 3149.181 us + 5.03sWARNros2_control_nodeOverrun might occur, Total time : 3382.165 us (Expected < 1666.667 us) --> Read time : 154.453 us, Update time : 78.531 us, Write time : 3149.181 us[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.165ms + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239699 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239699 ms (missed cycles : 4).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.917ms + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.582ms + 5.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.96sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.96sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.610ms + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826572 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826572 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun might occur, Total time : 3677.781 us (Expected < 1666.667 us) --> Read time : 131.562 us, Update time : 3138.101 us, Write time : 408.118 us + 6.55sWARNros2_control_nodeOverrun might occur, Total time : 3677.781 us (Expected < 1666.667 us) --> Read time : 131.562 us, Update time : 3138.101 us, Write time : 408.118 us[0m ×2 + 6.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.620ms ×2 + 7.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.235ms + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672058 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672058 ms (missed cycles : 3).[0m ×2 + 7.61sWARNcontroller_managerOverrun might occur, Total time : 1714.463 us (Expected < 1666.667 us) --> Read time : 177.563 us, Update time : 1164.643 us, Write time : 372.257 us + 7.61sWARNros2_control_nodeOverrun might occur, Total time : 1714.463 us (Expected < 1666.667 us) --> Read time : 177.563 us, Update time : 1164.643 us, Write time : 372.257 us[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.729ms + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281181 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281181 ms (missed cycles : 2).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.562ms + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197547 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197547 ms (missed cycles : 2).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.113ms + 10.09sWARNcontroller_managerOverrun might occur, Total time : 2690.302 us (Expected < 1666.667 us) --> Read time : 171.653 us, Update time : 132.263 us, Write time : 2386.386 us + 10.09sWARNros2_control_nodeOverrun might occur, Total time : 2690.302 us (Expected < 1666.667 us) --> Read time : 171.653 us, Update time : 132.263 us, Write time : 2386.386 us[0m ×2 + 10.21sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 8.144ms + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514397 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514397 ms (missed cycles : 2).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.597ms + 11.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.391ms + 11.21sWARNcontroller_managerOverrun might occur, Total time : 3030.228 us (Expected < 1666.667 us) --> Read time : 152.093 us, Update time : 2520.188 us, Write time : 357.947 us + 11.21sWARNros2_control_nodeOverrun might occur, Total time : 3030.228 us (Expected < 1666.667 us) --> Read time : 152.093 us, Update time : 2520.188 us, Write time : 357.947 us[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.515ms + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933733 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933733 ms (missed cycles : 2).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.534ms + 12.55sWARNcontroller_managerOverrun might occur, Total time : 1754.421 us (Expected < 1666.667 us) --> Read time : 151.823 us, Update time : 765.524 us, Write time : 837.074 us + 12.55sWARNros2_control_nodeOverrun might occur, Total time : 1754.421 us (Expected < 1666.667 us) --> Read time : 151.823 us, Update time : 765.524 us, Write time : 837.074 us[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.557ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441707 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441707 ms (missed cycles : 2).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.492ms ×2 + 13.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.108ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791972 ms (missed cycles : 4). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791972 ms (missed cycles : 4).[0m ×2 + 13.91sWARNcontroller_managerOverrun might occur, Total time : 1703.220 us (Expected < 1666.667 us) --> Read time : 154.273 us, Update time : 215.134 us, Write time : 1333.813 us + 13.92sWARNros2_control_nodeOverrun might occur, Total time : 1703.220 us (Expected < 1666.667 us) --> Read time : 154.273 us, Update time : 215.134 us, Write time : 1333.813 us[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.512ms ×2 + 14.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.879ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630750 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630750 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.503ms + 15.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.465ms + 15.91sWARNcontroller_managerOverrun might occur, Total time : 5610.609 us (Expected < 1666.667 us) --> Read time : 159.383 us, Update time : 5110.510 us, Write time : 340.716 us + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815940 ms (missed cycles : 4). + 15.91sWARNros2_control_nodeOverrun might occur, Total time : 5610.609 us (Expected < 1666.667 us) --> Read time : 159.383 us, Update time : 5110.510 us, Write time : 340.716 us[0m ×2 + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815940 ms (missed cycles : 4).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.428ms ×2 + 16.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.596ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003193 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003193 ms (missed cycles : 2).[0m ×2 + 16.97sWARNcontroller_managerOverrun might occur, Total time : 2715.699 us (Expected < 1666.667 us) --> Read time : 215.664 us, Update time : 552.980 us, Write time : 1947.055 us + 16.97sWARNros2_control_nodeOverrun might occur, Total time : 2715.699 us (Expected < 1666.667 us) --> Read time : 215.664 us, Update time : 552.980 us, Write time : 1947.055 us[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.842ms + 17.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.869ms + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230832 ms (missed cycles : 5). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230832 ms (missed cycles : 5).[0m ×2 + 18.10sWARNcontroller_managerOverrun might occur, Total time : 1763.312 us (Expected < 1666.667 us) --> Read time : 156.583 us, Update time : 772.464 us, Write time : 834.265 us + 18.10sWARNros2_control_nodeOverrun might occur, Total time : 1763.312 us (Expected < 1666.667 us) --> Read time : 156.583 us, Update time : 772.464 us, Write time : 834.265 us[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.845ms + 18.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.782ms + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680349 ms (missed cycles : 3). + 19.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680349 ms (missed cycles : 3).[0m ×2 + 19.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.446ms + 19.28sWARNcontroller_managerOverrun might occur, Total time : 1884.204 us (Expected < 1666.667 us) --> Read time : 677.382 us, Update time : 334.286 us, Write time : 872.536 us + 19.29sWARNros2_control_nodeOverrun might occur, Total time : 1884.204 us (Expected < 1666.667 us) --> Read time : 677.382 us, Update time : 334.286 us, Write time : 872.536 us[0m ×2 + 19.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.318ms + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248000 ms (missed cycles : 2). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248000 ms (missed cycles : 2).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.430ms + 20.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.410ms ×2 + 20.81sWARNcontroller_managerOverrun might occur, Total time : 3588.504 us (Expected < 1666.667 us) --> Read time : 138.182 us, Update time : 3069.865 us, Write time : 380.457 us + 20.81sWARNros2_control_nodeOverrun might occur, Total time : 3588.504 us (Expected < 1666.667 us) --> Read time : 138.182 us, Update time : 3069.865 us, Write time : 380.457 us[0m ×2 + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329501 ms (missed cycles : 5). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329501 ms (missed cycles : 5).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.801ms ×2 + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859309 ms (missed cycles : 2). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859309 ms (missed cycles : 2).[0m ×2 + 22.18sWARNcontroller_managerOverrun might occur, Total time : 2830.101 us (Expected < 1666.667 us) --> Read time : 145.623 us, Update time : 2284.701 us, Write time : 399.777 us + 22.18sWARNros2_control_nodeOverrun might occur, Total time : 2830.101 us (Expected < 1666.667 us) --> Read time : 145.623 us, Update time : 2284.701 us, Write time : 399.777 us[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.440ms + 22.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.829ms + 22.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.371ms + 22.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.727ms + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823013 ms (missed cycles : 3). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823013 ms (missed cycles : 3).[0m ×2 + 23.29sWARNcontroller_managerOverrun might occur, Total time : 10058.508 us (Expected < 1666.667 us) --> Read time : 145.233 us, Update time : 9489.468 us, Write time : 423.807 us + 23.29sWARNros2_control_nodeOverrun might occur, Total time : 10058.508 us (Expected < 1666.667 us) --> Read time : 145.233 us, Update time : 9489.468 us, Write time : 423.807 us[0m ×2 + 23.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.197ms + 23.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.004ms + 23.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.649ms + 24.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931224 ms (missed cycles : 2). + 24.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931224 ms (missed cycles : 2).[0m ×2 + 24.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.199ms + 24.59sWARNcontroller_managerOverrun might occur, Total time : 1960.055 us (Expected < 1666.667 us) --> Read time : 251.995 us, Update time : 153.622 us, Write time : 1554.438 us + 24.59sWARNros2_control_nodeOverrun might occur, Total time : 1960.055 us (Expected < 1666.667 us) --> Read time : 251.995 us, Update time : 153.622 us, Write time : 1554.438 us[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.051ms + 25.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.979ms ×2 + 25.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.853ms + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420586 ms (missed cycles : 5). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420586 ms (missed cycles : 5).[0m ×2 + 25.61sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.100ms + 26.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.150ms + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619619 ms (missed cycles : 3). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619619 ms (missed cycles : 3).[0m ×2 + 26.28sWARNcontroller_managerOverrun might occur, Total time : 1750.691 us (Expected < 1666.667 us) --> Read time : 187.403 us, Update time : 131.953 us, Write time : 1431.335 us + 26.28sWARNros2_control_nodeOverrun might occur, Total time : 1750.691 us (Expected < 1666.667 us) --> Read time : 187.403 us, Update time : 131.953 us, Write time : 1431.335 us[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.219ms + 26.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.670ms + 27.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.627ms + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630623 ms (missed cycles : 2). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630623 ms (missed cycles : 2).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.769ms + 27.89sWARNcontroller_managerOverrun might occur, Total time : 2220.639 us (Expected < 1666.667 us) --> Read time : 205.653 us, Update time : 1596.519 us, Write time : 418.467 us + 27.89sWARNros2_control_nodeOverrun might occur, Total time : 2220.639 us (Expected < 1666.667 us) --> Read time : 205.653 us, Update time : 1596.519 us, Write time : 418.467 us[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.734ms + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749371 ms (missed cycles : 3). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749371 ms (missed cycles : 3).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.756ms + 29.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.861ms + 29.05sWARNcontroller_managerOverrun might occur, Total time : 1742.261 us (Expected < 1666.667 us) --> Read time : 158.663 us, Update time : 1107.489 us, Write time : 476.109 us + 29.06sWARNros2_control_nodeOverrun might occur, Total time : 1742.261 us (Expected < 1666.667 us) --> Read time : 158.663 us, Update time : 1107.489 us, Write time : 476.109 us[0m ×2 + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072285 ms (missed cycles : 3). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072285 ms (missed cycles : 3).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.066ms + 30.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.868ms + 30.15sWARNcontroller_managerOverrun might occur, Total time : 1694.820 us (Expected < 1666.667 us) --> Read time : 1257.632 us, Update time : 146.653 us, Write time : 290.535 us + 30.15sWARNros2_control_nodeOverrun might occur, Total time : 1694.820 us (Expected < 1666.667 us) --> Read time : 1257.632 us, Update time : 146.653 us, Write time : 290.535 us[0m ×2 + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647900 ms (missed cycles : 4). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647900 ms (missed cycles : 4).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.841ms + 30.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.205ms + 31.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.980ms + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697363 ms (missed cycles : 2). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697363 ms (missed cycles : 2).[0m ×2 + 31.54sWARNcontroller_managerOverrun might occur, Total time : 2769.334 us (Expected < 1666.667 us) --> Read time : 2258.794 us, Update time : 171.354 us, Write time : 339.186 us + 31.54sWARNros2_control_nodeOverrun might occur, Total time : 2769.334 us (Expected < 1666.667 us) --> Read time : 2258.794 us, Update time : 171.354 us, Write time : 339.186 us[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.832ms + 32.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223655 ms (missed cycles : 4). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223655 ms (missed cycles : 4).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.360ms + 32.76sWARNcontroller_managerOverrun might occur, Total time : 2386.397 us (Expected < 1666.667 us) --> Read time : 161.913 us, Update time : 1849.047 us, Write time : 375.437 us + 32.76sWARNros2_control_nodeOverrun might occur, Total time : 2386.397 us (Expected < 1666.667 us) --> Read time : 161.913 us, Update time : 1849.047 us, Write time : 375.437 us[0m ×2 + 33.28sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.28sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374838 ms (missed cycles : 2). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374838 ms (missed cycles : 2).[0m ×2 + 33.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.827ms + 33.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.566ms + 33.94sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.24sWARNcontroller_managerOverrun might occur, Total time : 3041.480 us (Expected < 1666.667 us) --> Read time : 118.513 us, Update time : 2618.741 us, Write time : 304.226 us + 34.24sWARNros2_control_nodeOverrun might occur, Total time : 3041.480 us (Expected < 1666.667 us) --> Read time : 118.513 us, Update time : 2618.741 us, Write time : 304.226 us[0m ×2 + 34.61sINFOobjective_server_nodePlanning for 35 path waypoints. ×6 + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371928 ms (missed cycles : 3). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371928 ms (missed cycles : 3).[0m ×2 + 35.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.441ms + 35.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.884ms + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.098910 ms (missed cycles : 8). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.098910 ms (missed cycles : 8).[0m ×2 + 35.72sWARNcontroller_managerOverrun might occur, Total time : 2522.580 us (Expected < 1666.667 us) --> Read time : 2002.549 us, Update time : 172.214 us, Write time : 347.817 us + 35.72sWARNros2_control_nodeOverrun might occur, Total time : 2522.580 us (Expected < 1666.667 us) --> Read time : 2002.549 us, Update time : 172.214 us, Write time : 347.817 us[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966438 ms (missed cycles : 5). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966438 ms (missed cycles : 5).[0m ×2 + 36.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.730ms + 37.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.751ms + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395616 ms (missed cycles : 3). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395616 ms (missed cycles : 3).[0m ×2 + 37.89sWARNcontroller_managerOverrun might occur, Total time : 2362.586 us (Expected < 1666.667 us) --> Read time : 151.983 us, Update time : 1850.586 us, Write time : 360.017 us + 37.89sWARNros2_control_nodeOverrun might occur, Total time : 2362.586 us (Expected < 1666.667 us) --> Read time : 151.983 us, Update time : 1850.586 us, Write time : 360.017 us[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.951ms + 38.03sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 38.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.622ms + 38.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.982ms + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900493 ms (missed cycles : 2). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900493 ms (missed cycles : 2).[0m ×2 + 39.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.688ms + 39.88sWARNcontroller_managerOverrun might occur, Total time : 1781.395 us (Expected < 1666.667 us) --> Read time : 772.665 us, Update time : 141.503 us, Write time : 867.227 us + 39.88sWARNros2_control_nodeOverrun might occur, Total time : 1781.395 us (Expected < 1666.667 us) --> Read time : 772.665 us, Update time : 141.503 us, Write time : 867.227 us[0m ×2 + 39.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780115 ms (missed cycles : 2). + 39.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780115 ms (missed cycles : 2).[0m ×2 + 40.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.745ms + 40.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.858ms + 40.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497293 ms (missed cycles : 4). + 40.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497293 ms (missed cycles : 4).[0m ×2 + 40.95sWARNcontroller_managerOverrun might occur, Total time : 3043.320 us (Expected < 1666.667 us) --> Read time : 130.562 us, Update time : 2362.307 us, Write time : 550.451 us + 40.95sWARNros2_control_nodeOverrun might occur, Total time : 3043.320 us (Expected < 1666.667 us) --> Read time : 130.562 us, Update time : 2362.307 us, Write time : 550.451 us[0m ×2 + 41.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.825ms + 41.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343754 ms (missed cycles : 3). + 41.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343754 ms (missed cycles : 3).[0m ×2 + 42.06sWARNcontroller_managerOverrun might occur, Total time : 2276.535 us (Expected < 1666.667 us) --> Read time : 117.772 us, Update time : 1883.377 us, Write time : 275.386 us + 42.06sWARNros2_control_nodeOverrun might occur, Total time : 2276.535 us (Expected < 1666.667 us) --> Read time : 117.772 us, Update time : 1883.377 us, Write time : 275.386 us[0m ×2 + 42.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.912ms + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061422 ms (missed cycles : 2). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061422 ms (missed cycles : 2).[0m ×2 + 43.39sWARNcontroller_managerOverrun might occur, Total time : 1846.566 us (Expected < 1666.667 us) --> Read time : 220.474 us, Update time : 1202.524 us, Write time : 423.568 us + 43.39sWARNros2_control_nodeOverrun might occur, Total time : 1846.566 us (Expected < 1666.667 us) --> Read time : 220.474 us, Update time : 1202.524 us, Write time : 423.568 us[0m ×2 + 43.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.733ms + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998737 ms (missed cycles : 3). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998737 ms (missed cycles : 3).[0m ×2 + 44.43sWARNcontroller_managerOverrun might occur, Total time : 2621.032 us (Expected < 1666.667 us) --> Read time : 144.963 us, Update time : 2120.292 us, Write time : 355.777 us + 44.43sWARNros2_control_nodeOverrun might occur, Total time : 2621.032 us (Expected < 1666.667 us) --> Read time : 144.963 us, Update time : 2120.292 us, Write time : 355.777 us[0m ×2 + 44.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.966ms + 45.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771557 ms (missed cycles : 3). + 45.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771557 ms (missed cycles : 3).[0m ×2 + 45.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.844ms + 45.87sWARNcontroller_managerOverrun might occur, Total time : 2123.082 us (Expected < 1666.667 us) --> Read time : 113.592 us, Update time : 1727.364 us, Write time : 282.126 us + 45.87sWARNros2_control_nodeOverrun might occur, Total time : 2123.082 us (Expected < 1666.667 us) --> Read time : 113.592 us, Update time : 1727.364 us, Write time : 282.126 us[0m ×2 + 46.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730506 ms (missed cycles : 3). + 46.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730506 ms (missed cycles : 3).[0m ×2 + 46.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.606ms + 46.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.891ms + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943524 ms (missed cycles : 3). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943524 ms (missed cycles : 3).[0m ×2 + 47.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.138ms + 47.70sWARNcontroller_managerOverrun might occur, Total time : 4414.297 us (Expected < 1666.667 us) --> Read time : 139.952 us, Update time : 3864.817 us, Write time : 409.528 us + 47.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 7.270ms + 47.70sWARNros2_control_nodeOverrun might occur, Total time : 4414.297 us (Expected < 1666.667 us) --> Read time : 139.952 us, Update time : 3864.817 us, Write time : 409.528 us[0m ×2 + 48.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.631557 ms (missed cycles : 7). + 48.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.631557 ms (missed cycles : 7).[0m ×2 + 48.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.215ms + 48.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.862ms + 49.00sWARNcontroller_managerOverrun might occur, Total time : 2109.192 us (Expected < 1666.667 us) --> Read time : 112.942 us, Update time : 1594.262 us, Write time : 401.988 us + 49.00sWARNros2_control_nodeOverrun might occur, Total time : 2109.192 us (Expected < 1666.667 us) --> Read time : 112.942 us, Update time : 1594.262 us, Write time : 401.988 us[0m ×2 + 49.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2). + 49.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2).[0m ×2 + 49.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.005ms + 50.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122738 ms (missed cycles : 3). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122738 ms (missed cycles : 3).[0m ×2 + 50.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.298ms + 50.60sWARNcontroller_managerOverrun might occur, Total time : 2482.829 us (Expected < 1666.667 us) --> Read time : 189.203 us, Update time : 1902.128 us, Write time : 391.498 us + 50.60sWARNros2_control_nodeOverrun might occur, Total time : 2482.829 us (Expected < 1666.667 us) --> Read time : 189.203 us, Update time : 1902.128 us, Write time : 391.498 us[0m ×2 + 51.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.500557 ms (missed cycles : 6). + 51.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.500557 ms (missed cycles : 6).[0m ×2 + 51.49sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 52.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.345ms + 52.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082910 ms (missed cycles : 5). + 52.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082910 ms (missed cycles : 5).[0m ×2 + 52.73sWARNcontroller_managerOverrun might occur, Total time : 2481.470 us (Expected < 1666.667 us) --> Read time : 210.054 us, Update time : 1963.299 us, Write time : 308.117 us + 52.73sWARNros2_control_nodeOverrun might occur, Total time : 2481.470 us (Expected < 1666.667 us) --> Read time : 210.054 us, Update time : 1963.299 us, Write time : 308.117 us[0m ×2 + 53.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262226 ms (missed cycles : 5). + 53.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262226 ms (missed cycles : 5).[0m ×2 + 54.42sWARNcontroller_managerOverrun might occur, Total time : 5161.972 us (Expected < 1666.667 us) --> Read time : 136.313 us, Update time : 4611.631 us, Write time : 414.028 us + 54.42sWARNros2_control_nodeOverrun might occur, Total time : 5161.972 us (Expected < 1666.667 us) --> Read time : 136.313 us, Update time : 4611.631 us, Write time : 414.028 us[0m ×2 + 54.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305958 ms (missed cycles : 2). + 54.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305958 ms (missed cycles : 2).[0m ×2 + 55.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175737 ms (missed cycles : 2). + 55.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175737 ms (missed cycles : 2).[0m ×2 + 56.09sWARNcontroller_managerOverrun might occur, Total time : 2830.916 us (Expected < 1666.667 us) --> Read time : 138.963 us, Update time : 2377.877 us, Write time : 314.076 us + 56.09sWARNros2_control_nodeOverrun might occur, Total time : 2830.916 us (Expected < 1666.667 us) --> Read time : 138.963 us, Update time : 2377.877 us, Write time : 314.076 us[0m ×2 + 56.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.012ms + 56.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.384759 ms (missed cycles : 7). + 56.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.384759 ms (missed cycles : 7).[0m ×2 + 56.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.565ms + 57.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.665ms ×2 + 57.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.237ms + 57.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648431 ms (missed cycles : 3). + 57.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648431 ms (missed cycles : 3).[0m ×2 + 58.04sWARNcontroller_managerOverrun might occur, Total time : 3856.146 us (Expected < 1666.667 us) --> Read time : 126.613 us, Update time : 3307.075 us, Write time : 422.458 us + 58.04sWARNros2_control_nodeOverrun might occur, Total time : 3856.146 us (Expected < 1666.667 us) --> Read time : 126.613 us, Update time : 3307.075 us, Write time : 422.458 us[0m ×2 + 58.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.500ms + 58.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027620 ms (missed cycles : 5). + 58.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027620 ms (missed cycles : 5).[0m ×2 + 59.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.816ms + 59.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.812ms + 59.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.821ms + 59.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147231 ms (missed cycles : 2). + 59.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147231 ms (missed cycles : 2).[0m ×2 + 60.12sWARNcontroller_managerOverrun might occur, Total time : 3528.210 us (Expected < 1666.667 us) --> Read time : 135.833 us, Update time : 3003.599 us, Write time : 388.778 us + 60.12sWARNros2_control_nodeOverrun might occur, Total time : 3528.210 us (Expected < 1666.667 us) --> Read time : 135.833 us, Update time : 3003.599 us, Write time : 388.778 us[0m ×2 + 60.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.572ms + 60.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478080 ms (missed cycles : 3). + 60.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478080 ms (missed cycles : 3).[0m ×2 + 61.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.488ms + 61.32sWARNcontroller_managerOverrun might occur, Total time : 2100.942 us (Expected < 1666.667 us) --> Read time : 130.203 us, Update time : 1610.862 us, Write time : 359.877 us + 61.32sWARNros2_control_nodeOverrun might occur, Total time : 2100.942 us (Expected < 1666.667 us) --> Read time : 130.203 us, Update time : 1610.862 us, Write time : 359.877 us[0m ×2 + 61.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.139ms + 61.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.672ms + 61.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.586ms + 61.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.770ms + 61.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089241 ms (missed cycles : 2). + 61.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089241 ms (missed cycles : 2).[0m ×2 + 62.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.994ms + 62.67sWARNcontroller_managerOverrun might occur, Total time : 3248.914 us (Expected < 1666.667 us) --> Read time : 2710.804 us, Update time : 178.623 us, Write time : 359.487 us + 62.67sWARNros2_control_nodeOverrun might occur, Total time : 3248.914 us (Expected < 1666.667 us) --> Read time : 2710.804 us, Update time : 178.623 us, Write time : 359.487 us[0m ×2 + 62.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700346 ms (missed cycles : 3). + 62.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700346 ms (missed cycles : 3).[0m ×2 + 63.72sWARNcontroller_managerOverrun might occur, Total time : 4979.608 us (Expected < 1666.667 us) --> Read time : 138.633 us, Update time : 4481.748 us, Write time : 359.227 us + 63.72sWARNros2_control_nodeOverrun might occur, Total time : 4979.608 us (Expected < 1666.667 us) --> Read time : 138.633 us, Update time : 4481.748 us, Write time : 359.227 us[0m ×2 + 63.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781898 ms (missed cycles : 3). + 63.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781898 ms (missed cycles : 3).[0m ×2 + 64.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.327ms + 64.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.923ms + 64.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786454 ms (missed cycles : 3). + 64.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786454 ms (missed cycles : 3).[0m ×2 + 64.93sWARNcontroller_managerOverrun might occur, Total time : 1996.808 us (Expected < 1666.667 us) --> Read time : 143.843 us, Update time : 198.613 us, Write time : 1654.352 us + 64.93sWARNros2_control_nodeOverrun might occur, Total time : 1996.808 us (Expected < 1666.667 us) --> Read time : 143.843 us, Update time : 198.613 us, Write time : 1654.352 us[0m ×2 + 65.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158307 ms (missed cycles : 2). + 65.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158307 ms (missed cycles : 2).[0m ×2 + 66.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.492ms + 67.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709758 ms (missed cycles : 2). + 67.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709758 ms (missed cycles : 2).[0m ×2 + 68.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539957 ms (missed cycles : 3). + 68.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539957 ms (missed cycles : 3).[0m ×2 + 68.16sWARNcontroller_managerOverrun might occur, Total time : 4150.911 us (Expected < 1666.667 us) --> Read time : 157.253 us, Update time : 3610.471 us, Write time : 383.187 us + 68.16sWARNros2_control_nodeOverrun might occur, Total time : 4150.911 us (Expected < 1666.667 us) --> Read time : 157.253 us, Update time : 3610.471 us, Write time : 383.187 us[0m ×2 + 68.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.957ms + 68.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.640ms + 69.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554378 ms (missed cycles : 4). + 69.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554378 ms (missed cycles : 4).[0m ×2 + 69.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.066ms + 69.33sWARNcontroller_managerOverrun might occur, Total time : 1678.210 us (Expected < 1666.667 us) --> Read time : 163.383 us, Update time : 1191.761 us, Write time : 323.066 us + 69.33sWARNros2_control_nodeOverrun might occur, Total time : 1678.210 us (Expected < 1666.667 us) --> Read time : 163.383 us, Update time : 1191.761 us, Write time : 323.066 us[0m ×2 + 69.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.577ms + 70.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373448 ms (missed cycles : 5). + 70.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373448 ms (missed cycles : 5).[0m ×2 + 70.52sWARNcontroller_managerOverrun might occur, Total time : 2274.051 us (Expected < 1666.667 us) --> Read time : 1785.182 us, Update time : 154.453 us, Write time : 334.416 us + 70.52sWARNros2_control_nodeOverrun might occur, Total time : 2274.051 us (Expected < 1666.667 us) --> Read time : 1785.182 us, Update time : 154.453 us, Write time : 334.416 us[0m ×2 + 70.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.564ms + 70.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.039ms + 70.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.684ms + 71.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112607 ms (missed cycles : 5). + 71.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112607 ms (missed cycles : 5).[0m ×2 + 71.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.631ms + 71.85sWARNcontroller_managerOverrun might occur, Total time : 3374.721 us (Expected < 1666.667 us) --> Read time : 2720.769 us, Update time : 261.115 us, Write time : 392.837 us + 71.85sWARNros2_control_nodeOverrun might occur, Total time : 3374.721 us (Expected < 1666.667 us) --> Read time : 2720.769 us, Update time : 261.115 us, Write time : 392.837 us[0m ×2 + 72.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805375 ms (missed cycles : 4). + 72.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805375 ms (missed cycles : 4).[0m ×2 + 72.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.525ms + 73.19sWARNcontroller_managerOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us + 73.19sWARNros2_control_nodeOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us[0m ×2 + 73.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2). + 73.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2).[0m ×2 + 73.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.608ms + 74.20sWARNcontroller_managerOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us + 74.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2). + 74.20sWARNros2_control_nodeOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us[0m ×2 + 74.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2).[0m ×2 + 75.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3). + 75.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3).[0m ×2 + 76.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781206178.47730589 seconds ×3 + 76.04sWARNcontroller_managerOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us + 76.04sWARNros2_control_nodeOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us[0m ×2 + 76.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8). + 76.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8).[0m ×2 + 76.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.405ms + 76.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781206179.04533958 seconds. ×3 + 76.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.563ms + 76.98sINFOobjective_server_nodeFound path in 0 iterations (1.11e-06 s). ×2 + 77.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.880ms + 77.12sWARNcontroller_managerOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us + 77.12sWARNros2_control_nodeOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us[0m ×2 + 77.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.793ms + 77.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2). + 77.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2).[0m ×2 + 77.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.703ms + 77.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.395ms + 78.19sWARNcontroller_managerOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us + 78.19sWARNros2_control_nodeOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us[0m ×2 + 78.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2). + 78.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2).[0m ×2 + 78.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.849ms + 79.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.766ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.1s | 315 warnings · 261 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116543 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116543 ms (missed cycles : 2).[0m ×2 + 0.03sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.03sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781205944.22842431 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 1911.050 us (Expected < 1666.667 us) --> Read time : 179.233 us, Update time : 1368.391 us, Write time : 363.426 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 1911.050 us (Expected < 1666.667 us) --> Read time : 179.233 us, Update time : 1368.391 us, Write time : 363.426 us[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781205944.77340364 seconds. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657262 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657262 ms (missed cycles : 4).[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.979e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.58sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.58sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.58sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.58sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 3052.478 us (Expected < 1666.667 us) --> Read time : 137.552 us, Update time : 2152.034 us, Write time : 762.892 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 3052.478 us (Expected < 1666.667 us) --> Read time : 137.552 us, Update time : 2152.034 us, Write time : 762.892 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509773 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509773 ms (missed cycles : 4).[0m ×2 + 3.03sWARNcontroller_managerOverrun might occur, Total time : 3448.934 us (Expected < 1666.667 us) --> Read time : 167.722 us, Update time : 2932.447 us, Write time : 348.765 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 3448.934 us (Expected < 1666.667 us) --> Read time : 167.722 us, Update time : 2932.447 us, Write time : 348.765 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216058 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216058 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781205947.87356091 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781205948.41398001 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749194 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749194 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 3109.369 us (Expected < 1666.667 us) --> Read time : 143.122 us, Update time : 2653.822 us, Write time : 312.425 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 3109.369 us (Expected < 1666.667 us) --> Read time : 143.122 us, Update time : 2653.822 us, Write time : 312.425 us[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250755 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250755 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun might occur, Total time : 3039.458 us (Expected < 1666.667 us) --> Read time : 178.633 us, Update time : 2395.218 us, Write time : 465.607 us + 5.28sWARNros2_control_nodeOverrun might occur, Total time : 3039.458 us (Expected < 1666.667 us) --> Read time : 178.633 us, Update time : 2395.218 us, Write time : 465.607 us[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850122 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850122 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun might occur, Total time : 1902.834 us (Expected < 1666.667 us) --> Read time : 1335.144 us, Update time : 155.432 us, Write time : 412.258 us + 6.35sWARNros2_control_nodeOverrun might occur, Total time : 1902.834 us (Expected < 1666.667 us) --> Read time : 1335.144 us, Update time : 155.432 us, Write time : 412.258 us[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293285 ms (missed cycles : 5). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293285 ms (missed cycles : 5).[0m ×2 + 7.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.090ms + 8.12sWARNcontroller_managerOverrun might occur, Total time : 1775.741 us (Expected < 1666.667 us) --> Read time : 176.033 us, Update time : 1205.081 us, Write time : 394.627 us + 8.12sWARNros2_control_nodeOverrun might occur, Total time : 1775.741 us (Expected < 1666.667 us) --> Read time : 176.033 us, Update time : 1205.081 us, Write time : 394.627 us[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890152 ms (missed cycles : 5). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890152 ms (missed cycles : 5).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.870ms + 9.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.215ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766476 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766476 ms (missed cycles : 3).[0m ×2 + 9.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.249ms + 9.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.279ms + 9.88sWARNcontroller_managerOverrun might occur, Total time : 2587.495 us (Expected < 1666.667 us) --> Read time : 179.314 us, Update time : 2080.556 us, Write time : 327.625 us + 9.88sWARNros2_control_nodeOverrun might occur, Total time : 2587.495 us (Expected < 1666.667 us) --> Read time : 179.314 us, Update time : 2080.556 us, Write time : 327.625 us[0m ×2 + 9.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.356ms + 10.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.684ms + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340274 ms (missed cycles : 5). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340274 ms (missed cycles : 5).[0m ×2 + 11.20sWARNcontroller_managerOverrun might occur, Total time : 1672.029 us (Expected < 1666.667 us) --> Read time : 692.452 us, Update time : 165.883 us, Write time : 813.694 us + 11.20sWARNros2_control_nodeOverrun might occur, Total time : 1672.029 us (Expected < 1666.667 us) --> Read time : 692.452 us, Update time : 165.883 us, Write time : 813.694 us[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.247ms + 11.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.078ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135618 ms (missed cycles : 5). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135618 ms (missed cycles : 5).[0m ×2 + 11.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.245ms + 12.39sWARNcontroller_managerOverrun might occur, Total time : 2400.153 us (Expected < 1666.667 us) --> Read time : 217.574 us, Update time : 1856.323 us, Write time : 326.256 us + 12.39sWARNros2_control_nodeOverrun might occur, Total time : 2400.153 us (Expected < 1666.667 us) --> Read time : 217.574 us, Update time : 1856.323 us, Write time : 326.256 us[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714338 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714338 ms (missed cycles : 2).[0m ×2 + 12.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.317ms + 12.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.295ms + 13.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.699ms + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405354 ms (missed cycles : 6). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405354 ms (missed cycles : 6).[0m ×2 + 13.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.479ms ×2 + 13.89sWARNcontroller_managerOverrun might occur, Total time : 3168.706 us (Expected < 1666.667 us) --> Read time : 110.352 us, Update time : 2639.587 us, Write time : 418.767 us + 13.89sWARNros2_control_nodeOverrun might occur, Total time : 3168.706 us (Expected < 1666.667 us) --> Read time : 110.352 us, Update time : 2639.587 us, Write time : 418.767 us[0m ×2 + 13.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.639ms + 14.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 6.488ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736395 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736395 ms (missed cycles : 2).[0m ×2 + 14.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.223ms + 14.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.954ms + 15.20sWARNcontroller_managerOverrun might occur, Total time : 1812.922 us (Expected < 1666.667 us) --> Read time : 143.233 us, Update time : 782.293 us, Write time : 887.396 us + 15.21sWARNros2_control_nodeOverrun might occur, Total time : 1812.922 us (Expected < 1666.667 us) --> Read time : 143.233 us, Update time : 782.293 us, Write time : 887.396 us[0m ×2 + 15.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.427ms + 15.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.307ms + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442174 ms (missed cycles : 3). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442174 ms (missed cycles : 3).[0m ×2 + 15.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.906ms + 15.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.292ms + 16.23sWARNcontroller_managerOverrun might occur, Total time : 4833.455 us (Expected < 1666.667 us) --> Read time : 179.133 us, Update time : 195.884 us, Write time : 4458.438 us + 16.23sWARNros2_control_nodeOverrun might occur, Total time : 4833.455 us (Expected < 1666.667 us) --> Read time : 179.133 us, Update time : 195.884 us, Write time : 4458.438 us[0m ×2 + 16.30sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.862ms + 16.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.260ms + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.291310 ms (missed cycles : 7). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.291310 ms (missed cycles : 7).[0m ×2 + 16.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.081ms + 16.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.324ms + 17.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.275ms + 17.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.392ms + 17.65sWARNcontroller_managerOverrun might occur, Total time : 1706.491 us (Expected < 1666.667 us) --> Read time : 153.503 us, Update time : 1240.192 us, Write time : 312.796 us + 17.65sWARNros2_control_nodeOverrun might occur, Total time : 1706.491 us (Expected < 1666.667 us) --> Read time : 153.503 us, Update time : 1240.192 us, Write time : 312.796 us[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.969ms + 17.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.247ms + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856405 ms (missed cycles : 2). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856405 ms (missed cycles : 2).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.444ms + 18.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.467ms + 18.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.252ms + 18.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.139ms + 18.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.179ms + 18.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.365ms + 18.88sWARNcontroller_managerOverrun might occur, Total time : 3151.936 us (Expected < 1666.667 us) --> Read time : 135.172 us, Update time : 2365.442 us, Write time : 651.322 us + 18.88sWARNros2_control_nodeOverrun might occur, Total time : 3151.936 us (Expected < 1666.667 us) --> Read time : 135.172 us, Update time : 2365.442 us, Write time : 651.322 us[0m ×2 + 18.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.109ms + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445024 ms (missed cycles : 3). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445024 ms (missed cycles : 3).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.183ms + 19.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.300ms + 19.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.777ms + 19.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.256ms + 19.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.120ms + 19.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.896ms + 19.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.963ms + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050824 ms (missed cycles : 5). + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050824 ms (missed cycles : 5).[0m ×2 + 19.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.189ms + 20.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.530ms + 20.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.932ms + 20.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.960ms + 20.47sWARNcontroller_managerOverrun might occur, Total time : 3030.313 us (Expected < 1666.667 us) --> Read time : 306.055 us, Update time : 130.392 us, Write time : 2593.866 us + 20.47sWARNros2_control_nodeOverrun might occur, Total time : 3030.313 us (Expected < 1666.667 us) --> Read time : 306.055 us, Update time : 130.392 us, Write time : 2593.866 us[0m ×2 + 20.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.035ms + 20.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.765ms + 20.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.478ms ×2 + 20.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.378ms + 20.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.425ms + 21.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.115ms + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673596 ms (missed cycles : 4). + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673596 ms (missed cycles : 4).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.445ms + 21.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.664ms + 21.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.917ms + 21.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.639ms + 21.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.440ms + 21.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.420ms + 21.84sWARNcontroller_managerOverrun might occur, Total time : 1876.674 us (Expected < 1666.667 us) --> Read time : 133.013 us, Update time : 711.972 us, Write time : 1031.689 us + 21.84sWARNros2_control_nodeOverrun might occur, Total time : 1876.674 us (Expected < 1666.667 us) --> Read time : 133.013 us, Update time : 711.972 us, Write time : 1031.689 us[0m ×2 + 21.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.812ms + 21.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.567ms + 22.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.586ms ×2 + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206770 ms (missed cycles : 2). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206770 ms (missed cycles : 2).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.957ms + 22.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.534ms + 22.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.498ms + 22.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.439ms + 22.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.435ms + 22.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.625ms + 22.87sWARNcontroller_managerOverrun might occur, Total time : 1981.465 us (Expected < 1666.667 us) --> Read time : 154.903 us, Update time : 1346.634 us, Write time : 479.928 us + 22.87sWARNros2_control_nodeOverrun might occur, Total time : 1981.465 us (Expected < 1666.667 us) --> Read time : 154.903 us, Update time : 1346.634 us, Write time : 479.928 us[0m ×2 + 22.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.612ms + 22.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.561ms + 23.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.519ms + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693873 ms (missed cycles : 2). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693873 ms (missed cycles : 2).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.086ms + 23.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.678ms + 23.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.631ms + 23.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.529ms + 23.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.501ms + 23.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.363ms + 23.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.387ms + 23.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.495ms + 24.02sWARNcontroller_managerOverrun might occur, Total time : 1863.543 us (Expected < 1666.667 us) --> Read time : 168.513 us, Update time : 1342.314 us, Write time : 352.716 us + 24.02sWARNros2_control_nodeOverrun might occur, Total time : 1863.543 us (Expected < 1666.667 us) --> Read time : 168.513 us, Update time : 1342.314 us, Write time : 352.716 us[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.418ms + 24.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.466ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634039 ms (missed cycles : 3). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634039 ms (missed cycles : 3).[0m ×2 + 24.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.591ms + 24.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.228ms + 24.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.462ms ×2 + 24.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.526ms + 24.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.355ms + 24.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.474ms + 24.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.912ms + 25.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.549ms ×3 + 25.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.005ms + 25.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.863ms + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969197 ms (missed cycles : 2). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969197 ms (missed cycles : 2).[0m ×2 + 25.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.166ms + 25.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.176ms + 25.64sWARNcontroller_managerOverrun might occur, Total time : 2075.377 us (Expected < 1666.667 us) --> Read time : 361.856 us, Update time : 388.107 us, Write time : 1325.414 us + 25.64sWARNros2_control_nodeOverrun might occur, Total time : 2075.377 us (Expected < 1666.667 us) --> Read time : 361.856 us, Update time : 388.107 us, Write time : 1325.414 us[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.229ms + 25.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.521ms + 25.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.491ms + 26.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.209ms + 26.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.593ms + 26.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.511ms + 26.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606606 ms (missed cycles : 3). + 26.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606606 ms (missed cycles : 3).[0m ×2 + 26.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.661ms + 26.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.579ms + 26.62sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.407ms + 26.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.544ms + 26.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.106ms + 26.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.302ms + 26.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.620ms + 27.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.542ms + 27.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.582ms + 27.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.540ms + 27.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.645ms + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333961 ms (missed cycles : 3). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333961 ms (missed cycles : 3).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.375ms + 27.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.817ms + 27.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.300ms + 27.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.079ms + 27.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.551ms + 27.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.072ms + 28.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.222ms + 28.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.369ms + 28.37sWARNcontroller_managerOverrun might occur, Total time : 2515.354 us (Expected < 1666.667 us) --> Read time : 224.004 us, Update time : 1937.034 us, Write time : 354.316 us + 28.37sWARNros2_control_nodeOverrun might occur, Total time : 2515.354 us (Expected < 1666.667 us) --> Read time : 224.004 us, Update time : 1937.034 us, Write time : 354.316 us[0m ×2 + 28.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.504ms + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731441 ms (missed cycles : 2). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731441 ms (missed cycles : 2).[0m ×2 + 28.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141202 ms (missed cycles : 2). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141202 ms (missed cycles : 2).[0m ×2 + 29.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.532ms + 30.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.340ms + 30.56sWARNcontroller_managerOverrun might occur, Total time : 3300.178 us (Expected < 1666.667 us) --> Read time : 181.363 us, Update time : 2656.147 us, Write time : 462.668 us + 30.56sWARNros2_control_nodeOverrun might occur, Total time : 3300.178 us (Expected < 1666.667 us) --> Read time : 181.363 us, Update time : 2656.147 us, Write time : 462.668 us[0m ×2 + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158494 ms (missed cycles : 2). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158494 ms (missed cycles : 2).[0m ×2 + 31.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.144ms + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444883 ms (missed cycles : 4). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444883 ms (missed cycles : 4).[0m ×2 + 31.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.194ms + 32.20sWARNcontroller_managerOverrun might occur, Total time : 4171.873 us (Expected < 1666.667 us) --> Read time : 131.722 us, Update time : 506.309 us, Write time : 3533.842 us + 32.20sWARNros2_control_nodeOverrun might occur, Total time : 4171.873 us (Expected < 1666.667 us) --> Read time : 131.722 us, Update time : 506.309 us, Write time : 3533.842 us[0m ×2 + 32.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.398ms + 32.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249825 ms (missed cycles : 4). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249825 ms (missed cycles : 4).[0m ×2 + 32.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.426ms + 33.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.583ms + 33.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.615ms + 33.51sWARNcontroller_managerOverrun might occur, Total time : 2348.411 us (Expected < 1666.667 us) --> Read time : 396.557 us, Update time : 1018.588 us, Write time : 933.266 us + 33.51sWARNros2_control_nodeOverrun might occur, Total time : 2348.411 us (Expected < 1666.667 us) --> Read time : 396.557 us, Update time : 1018.588 us, Write time : 933.266 us[0m ×2 + 33.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563168 ms (missed cycles : 6). + 33.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563168 ms (missed cycles : 6).[0m ×2 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492807 ms (missed cycles : 3). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492807 ms (missed cycles : 3).[0m ×2 + 34.88sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.08sWARNcontroller_managerOverrun might occur, Total time : 12209.857 us (Expected < 1666.667 us) --> Read time : 853.285 us, Update time : 10909.884 us, Write time : 446.688 us + 35.08sWARNros2_control_nodeOverrun might occur, Total time : 12209.857 us (Expected < 1666.667 us) --> Read time : 853.285 us, Update time : 10909.884 us, Write time : 446.688 us[0m ×2 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993308 ms (missed cycles : 5). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993308 ms (missed cycles : 5).[0m ×2 + 36.39sWARNcontroller_managerOverrun might occur, Total time : 2111.487 us (Expected < 1666.667 us) --> Read time : 168.093 us, Update time : 1610.498 us, Write time : 332.896 us + 36.39sWARNros2_control_nodeOverrun might occur, Total time : 2111.487 us (Expected < 1666.667 us) --> Read time : 168.093 us, Update time : 1610.498 us, Write time : 332.896 us[0m ×2 + 36.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.772ms + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144836 ms (missed cycles : 3). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144836 ms (missed cycles : 3).[0m ×2 + 37.43sWARNcontroller_managerOverrun might occur, Total time : 3101.055 us (Expected < 1666.667 us) --> Read time : 137.853 us, Update time : 2645.167 us, Write time : 318.035 us + 37.43sWARNros2_control_nodeOverrun might occur, Total time : 3101.055 us (Expected < 1666.667 us) --> Read time : 137.853 us, Update time : 2645.167 us, Write time : 318.035 us[0m ×2 + 37.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665224 ms (missed cycles : 5). + 37.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665224 ms (missed cycles : 5).[0m ×2 + 38.72sWARNcontroller_managerOverrun might occur, Total time : 5075.880 us (Expected < 1666.667 us) --> Read time : 164.223 us, Update time : 129.702 us, Write time : 4781.955 us + 38.73sWARNros2_control_nodeOverrun might occur, Total time : 5075.880 us (Expected < 1666.667 us) --> Read time : 164.223 us, Update time : 129.702 us, Write time : 4781.955 us[0m ×2 + 38.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811624 ms (missed cycles : 5). + 38.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811624 ms (missed cycles : 5).[0m ×2 + 39.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.126ms + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878688 ms (missed cycles : 5). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878688 ms (missed cycles : 5).[0m ×2 + 40.74sWARNcontroller_managerOverrun might occur, Total time : 2528.694 us (Expected < 1666.667 us) --> Read time : 135.712 us, Update time : 2068.557 us, Write time : 324.425 us + 40.74sWARNros2_control_nodeOverrun might occur, Total time : 2528.694 us (Expected < 1666.667 us) --> Read time : 135.712 us, Update time : 2068.557 us, Write time : 324.425 us[0m ×2 + 40.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.970ms + 41.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.318481 ms (missed cycles : 5). + 41.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.318481 ms (missed cycles : 5).[0m ×2 + 41.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.566ms + 41.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.570ms + 41.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.213ms + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621600 ms (missed cycles : 2). + 42.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621600 ms (missed cycles : 2).[0m ×2 + 42.22sWARNcontroller_managerOverrun might occur, Total time : 2029.246 us (Expected < 1666.667 us) --> Read time : 129.582 us, Update time : 1557.178 us, Write time : 342.486 us + 42.22sWARNros2_control_nodeOverrun might occur, Total time : 2029.246 us (Expected < 1666.667 us) --> Read time : 129.582 us, Update time : 1557.178 us, Write time : 342.486 us[0m ×2 + 43.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044734 ms (missed cycles : 2). + 43.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044734 ms (missed cycles : 2).[0m ×2 + 43.98sWARNcontroller_managerOverrun might occur, Total time : 6151.159 us (Expected < 1666.667 us) --> Read time : 205.664 us, Update time : 174.993 us, Write time : 5770.502 us + 43.98sWARNros2_control_nodeOverrun might occur, Total time : 6151.159 us (Expected < 1666.667 us) --> Read time : 205.664 us, Update time : 174.993 us, Write time : 5770.502 us[0m ×2 + 44.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083146 ms (missed cycles : 2). + 44.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083146 ms (missed cycles : 2).[0m ×2 + 45.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004701 ms (missed cycles : 2). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004701 ms (missed cycles : 2).[0m ×2 + 45.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.429ms + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108539 ms (missed cycles : 3). + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108539 ms (missed cycles : 3).[0m ×2 + 46.27sWARNcontroller_managerOverrun might occur, Total time : 5942.345 us (Expected < 1666.667 us) --> Read time : 116.832 us, Update time : 5370.675 us, Write time : 454.838 us + 46.27sWARNros2_control_nodeOverrun might occur, Total time : 5942.345 us (Expected < 1666.667 us) --> Read time : 116.832 us, Update time : 5370.675 us, Write time : 454.838 us[0m ×2 + 47.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961999 ms (missed cycles : 2). + 47.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961999 ms (missed cycles : 2).[0m ×2 + 47.42sWARNcontroller_managerOverrun might occur, Total time : 3936.199 us (Expected < 1666.667 us) --> Read time : 128.342 us, Update time : 3481.161 us, Write time : 326.696 us + 47.42sWARNros2_control_nodeOverrun might occur, Total time : 3936.199 us (Expected < 1666.667 us) --> Read time : 128.342 us, Update time : 3481.161 us, Write time : 326.696 us[0m ×2 + 48.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.134ms + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198131 ms (missed cycles : 2). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198131 ms (missed cycles : 2).[0m ×2 + 48.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.785ms + 48.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.159ms + 48.84sWARNcontroller_managerOverrun might occur, Total time : 2474.794 us (Expected < 1666.667 us) --> Read time : 142.722 us, Update time : 1971.085 us, Write time : 360.987 us + 48.84sWARNros2_control_nodeOverrun might occur, Total time : 2474.794 us (Expected < 1666.667 us) --> Read time : 142.722 us, Update time : 1971.085 us, Write time : 360.987 us[0m ×2 + 49.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.084599 ms (missed cycles : 5). + 49.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.084599 ms (missed cycles : 5).[0m ×2 + 50.24sWARNcontroller_managerOverrun might occur, Total time : 1982.585 us (Expected < 1666.667 us) --> Read time : 245.044 us, Update time : 1324.594 us, Write time : 412.947 us + 50.24sWARNros2_control_nodeOverrun might occur, Total time : 1982.585 us (Expected < 1666.667 us) --> Read time : 245.044 us, Update time : 1324.594 us, Write time : 412.947 us[0m ×2 + 50.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576824 ms (missed cycles : 2). + 50.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576824 ms (missed cycles : 2).[0m ×2 + 50.52sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.523ms + 50.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.060ms + 51.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.253862 ms (missed cycles : 7). + 51.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.253862 ms (missed cycles : 7).[0m ×2 + 51.89sWARNcontroller_managerOverrun might occur, Total time : 1688.030 us (Expected < 1666.667 us) --> Read time : 141.272 us, Update time : 928.517 us, Write time : 618.241 us + 51.89sWARNros2_control_nodeOverrun might occur, Total time : 1688.030 us (Expected < 1666.667 us) --> Read time : 141.272 us, Update time : 928.517 us, Write time : 618.241 us[0m ×2 + 52.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.799ms + 52.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646101 ms (missed cycles : 3). + 52.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646101 ms (missed cycles : 3).[0m ×2 + 52.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.588ms + 52.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.197ms + 53.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.558ms + 53.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.266ms + 53.30sWARNcontroller_managerOverrun might occur, Total time : 4384.887 us (Expected < 1666.667 us) --> Read time : 141.072 us, Update time : 3899.179 us, Write time : 344.636 us + 53.30sWARNros2_control_nodeOverrun might occur, Total time : 4384.887 us (Expected < 1666.667 us) --> Read time : 141.072 us, Update time : 3899.179 us, Write time : 344.636 us[0m ×2 + 53.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146579 ms (missed cycles : 2). + 53.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146579 ms (missed cycles : 2).[0m ×2 + 54.41sWARNcontroller_managerOverrun might occur, Total time : 3731.496 us (Expected < 1666.667 us) --> Read time : 176.713 us, Update time : 3201.246 us, Write time : 353.537 us + 54.41sWARNros2_control_nodeOverrun might occur, Total time : 3731.496 us (Expected < 1666.667 us) --> Read time : 176.713 us, Update time : 3201.246 us, Write time : 353.537 us[0m ×2 + 54.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272814 ms (missed cycles : 2). + 54.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272814 ms (missed cycles : 2).[0m ×2 + 55.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167403 ms (missed cycles : 2). + 55.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167403 ms (missed cycles : 2).[0m ×2 + 55.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.580ms + 56.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.644ms + 56.15sWARNcontroller_managerOverrun might occur, Total time : 6736.709 us (Expected < 1666.667 us) --> Read time : 165.173 us, Update time : 6130.228 us, Write time : 441.308 us + 56.15sWARNros2_control_nodeOverrun might occur, Total time : 6736.709 us (Expected < 1666.667 us) --> Read time : 165.173 us, Update time : 6130.228 us, Write time : 441.308 us[0m ×2 + 56.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.758ms + 56.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881651 ms (missed cycles : 3). + 56.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881651 ms (missed cycles : 3).[0m ×2 + 57.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4). + 57.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4).[0m ×2 + 58.30sWARNcontroller_managerOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us + 58.30sWARNros2_control_nodeOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us[0m ×2 + 58.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4). + 58.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4).[0m ×2 + 59.33sWARNcontroller_managerOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us + 59.33sWARNros2_control_nodeOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us[0m ×2 + 59.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.789ms + 59.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2). + 59.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2).[0m ×2 + 60.45sWARNcontroller_managerOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us + 60.45sWARNros2_control_nodeOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us[0m ×2 + 60.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781206004.94413424 seconds ×3 + 60.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3). + 60.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3).[0m ×2 + 60.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.138ms + 61.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.456ms + 61.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781206005.49616551 seconds. ×3 + 61.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.835ms + 61.49sWARNcontroller_managerOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us + 61.49sWARNros2_control_nodeOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us[0m ×2 + 61.67sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 61.69sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2). + 61.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2).[0m ×2 + 62.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2). + 62.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2).[0m ×2 + 63.12sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.934ms + 63.82sWARNcontroller_managerOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us + 63.83sWARNros2_control_nodeOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.5s | 312 warnings · 184 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.525ms + 0.39sWARNcontroller_managerOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.608ms + 1.40sWARNcontroller_managerOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us[0m ×2 + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.722ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781206178.47730589 seconds ×3 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.512ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.405ms + 3.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781206179.04533958 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.563ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (1.11e-06 s). ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.880ms + 4.33sWARNcontroller_managerOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.793ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.703ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.395ms + 5.39sWARNcontroller_managerOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.665ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.68sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.849ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.410ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.766ms + 6.57sWARNcontroller_managerOverrun might occur, Total time : 2431.564 us (Expected < 1666.667 us) --> Read time : 133.933 us, Update time : 2014.076 us, Write time : 283.555 us + 6.57sWARNros2_control_nodeOverrun might occur, Total time : 2431.564 us (Expected < 1666.667 us) --> Read time : 133.933 us, Update time : 2014.076 us, Write time : 283.555 us[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.441ms + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122799 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122799 ms (missed cycles : 4).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.404ms + 7.72sWARNcontroller_managerOverrun might occur, Total time : 2234.820 us (Expected < 1666.667 us) --> Read time : 125.772 us, Update time : 1809.243 us, Write time : 299.805 us + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426448 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun might occur, Total time : 2234.820 us (Expected < 1666.667 us) --> Read time : 125.772 us, Update time : 1809.243 us, Write time : 299.805 us[0m ×2 + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426448 ms (missed cycles : 2).[0m ×2 + 8.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.253ms + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924582 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924582 ms (missed cycles : 3).[0m ×2 + 8.78sWARNcontroller_managerOverrun might occur, Total time : 3368.980 us (Expected < 1666.667 us) --> Read time : 152.402 us, Update time : 117.522 us, Write time : 3099.056 us + 8.78sWARNros2_control_nodeOverrun might occur, Total time : 3368.980 us (Expected < 1666.667 us) --> Read time : 152.402 us, Update time : 117.522 us, Write time : 3099.056 us[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.478ms + 9.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.417ms ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250006 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250006 ms (missed cycles : 2).[0m ×2 + 9.88sWARNcontroller_managerOverrun might occur, Total time : 1988.066 us (Expected < 1666.667 us) --> Read time : 113.252 us, Update time : 550.440 us, Write time : 1324.374 us + 9.88sWARNros2_control_nodeOverrun might occur, Total time : 1988.066 us (Expected < 1666.667 us) --> Read time : 113.252 us, Update time : 550.440 us, Write time : 1324.374 us[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.358ms + 10.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.338ms ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820239 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820239 ms (missed cycles : 2).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.019ms + 11.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.820ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718093 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718093 ms (missed cycles : 2).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.323ms + 12.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.742ms + 12.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.990ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351689 ms (missed cycles : 4). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351689 ms (missed cycles : 4).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.513ms ×2 + 13.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.327ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632166 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632166 ms (missed cycles : 2).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.691ms + 14.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.702ms + 14.63sWARNcontroller_managerOverrun might occur, Total time : 2510.734 us (Expected < 1666.667 us) --> Read time : 178.813 us, Update time : 1989.705 us, Write time : 342.216 us + 14.63sWARNros2_control_nodeOverrun might occur, Total time : 2510.734 us (Expected < 1666.667 us) --> Read time : 178.813 us, Update time : 1989.705 us, Write time : 342.216 us[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.466ms ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724152 ms (missed cycles : 3). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724152 ms (missed cycles : 3).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.411ms + 15.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.396ms + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857995 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857995 ms (missed cycles : 2).[0m ×2 + 16.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.782ms + 16.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.585ms + 16.36sWARNcontroller_managerOverrun might occur, Total time : 2829.501 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 184.963 us, Write time : 2445.234 us + 16.36sWARNros2_control_nodeOverrun might occur, Total time : 2829.501 us (Expected < 1666.667 us) --> Read time : 199.304 us, Update time : 184.963 us, Write time : 2445.234 us[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.739ms + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754479 ms (missed cycles : 3). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754479 ms (missed cycles : 3).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.281ms + 17.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.667ms ×2 + 17.77sWARNcontroller_managerOverrun might occur, Total time : 2997.814 us (Expected < 1666.667 us) --> Read time : 208.703 us, Update time : 336.946 us, Write time : 2452.165 us + 17.78sWARNros2_control_nodeOverrun might occur, Total time : 2997.814 us (Expected < 1666.667 us) --> Read time : 208.703 us, Update time : 336.946 us, Write time : 2452.165 us[0m ×2 + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231714 ms (missed cycles : 2). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231714 ms (missed cycles : 2).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.748ms + 18.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.005ms + 18.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.467ms + 18.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.686ms + 19.14sWARNcontroller_managerOverrun might occur, Total time : 7841.371 us (Expected < 1666.667 us) --> Read time : 199.833 us, Update time : 114.812 us, Write time : 7526.726 us + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.522941 ms (missed cycles : 6). + 19.14sWARNros2_control_nodeOverrun might occur, Total time : 7841.371 us (Expected < 1666.667 us) --> Read time : 199.833 us, Update time : 114.812 us, Write time : 7526.726 us[0m ×2 + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.522941 ms (missed cycles : 6).[0m ×2 + 19.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.225ms + 20.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.599ms + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151894 ms (missed cycles : 5). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151894 ms (missed cycles : 5).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.341ms + 20.65sWARNcontroller_managerOverrun might occur, Total time : 4159.084 us (Expected < 1666.667 us) --> Read time : 222.444 us, Update time : 3523.243 us, Write time : 413.397 us + 20.65sWARNros2_control_nodeOverrun might occur, Total time : 4159.084 us (Expected < 1666.667 us) --> Read time : 222.444 us, Update time : 3523.243 us, Write time : 413.397 us[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.357ms ×2 + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818545 ms (missed cycles : 2). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818545 ms (missed cycles : 2).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.362ms ×2 + 21.82sWARNcontroller_managerOverrun might occur, Total time : 1768.052 us (Expected < 1666.667 us) --> Read time : 249.265 us, Update time : 99.312 us, Write time : 1419.475 us + 21.82sWARNros2_control_nodeOverrun might occur, Total time : 1768.052 us (Expected < 1666.667 us) --> Read time : 249.265 us, Update time : 99.312 us, Write time : 1419.475 us[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.516ms + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831951 ms (missed cycles : 2). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831951 ms (missed cycles : 2).[0m ×2 + 22.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.480ms ×2 + 22.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.609ms + 22.83sWARNcontroller_managerOverrun might occur, Total time : 2883.492 us (Expected < 1666.667 us) --> Read time : 187.124 us, Update time : 2336.122 us, Write time : 360.246 us + 22.84sWARNros2_control_nodeOverrun might occur, Total time : 2883.492 us (Expected < 1666.667 us) --> Read time : 187.124 us, Update time : 2336.122 us, Write time : 360.246 us[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.454ms + 23.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963261 ms (missed cycles : 2). + 23.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963261 ms (missed cycles : 2).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.831ms + 23.62sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.320ms + 23.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.576ms + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066191 ms (missed cycles : 5). + 24.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066191 ms (missed cycles : 5).[0m ×2 + 24.57sWARNcontroller_managerOverrun might occur, Total time : 2838.712 us (Expected < 1666.667 us) --> Read time : 153.732 us, Update time : 2220.061 us, Write time : 464.919 us + 24.57sWARNros2_control_nodeOverrun might occur, Total time : 2838.712 us (Expected < 1666.667 us) --> Read time : 153.732 us, Update time : 2220.061 us, Write time : 464.919 us[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.425ms + 25.24sINFOros2_control_nodeMuJoCo sim: 1.08% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.719ms + 25.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.507ms + 25.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.488ms + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766526 ms (missed cycles : 2). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766526 ms (missed cycles : 2).[0m ×2 + 25.62sWARNcontroller_managerOverrun might occur, Total time : 1672.270 us (Expected < 1666.667 us) --> Read time : 131.822 us, Update time : 1167.982 us, Write time : 372.466 us + 25.62sWARNros2_control_nodeOverrun might occur, Total time : 1672.270 us (Expected < 1666.667 us) --> Read time : 131.822 us, Update time : 1167.982 us, Write time : 372.466 us[0m ×2 + 25.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.311ms + 26.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.402ms + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223679 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223679 ms (missed cycles : 2).[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.385ms + 27.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.645ms + 27.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.495ms + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834428 ms (missed cycles : 3). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834428 ms (missed cycles : 3).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.534ms + 27.98sWARNcontroller_managerOverrun might occur, Total time : 2020.367 us (Expected < 1666.667 us) --> Read time : 137.612 us, Update time : 1558.339 us, Write time : 324.416 us + 27.99sWARNros2_control_nodeOverrun might occur, Total time : 2020.367 us (Expected < 1666.667 us) --> Read time : 137.612 us, Update time : 1558.339 us, Write time : 324.416 us[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.346ms + 28.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597380 ms (missed cycles : 3). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597380 ms (missed cycles : 3).[0m ×2 + 29.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.819ms + 29.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.814ms + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452282 ms (missed cycles : 2). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452282 ms (missed cycles : 2).[0m ×2 + 29.69sWARNcontroller_managerOverrun might occur, Total time : 4010.564 us (Expected < 1666.667 us) --> Read time : 138.523 us, Update time : 3519.184 us, Write time : 352.857 us + 29.69sWARNros2_control_nodeOverrun might occur, Total time : 4010.564 us (Expected < 1666.667 us) --> Read time : 138.523 us, Update time : 3519.184 us, Write time : 352.857 us[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.352ms + 30.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.269ms + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189998 ms (missed cycles : 4). + 30.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189998 ms (missed cycles : 4).[0m ×2 + 30.96sWARNcontroller_managerOverrun might occur, Total time : 5850.716 us (Expected < 1666.667 us) --> Read time : 183.553 us, Update time : 5251.876 us, Write time : 415.287 us + 30.96sWARNros2_control_nodeOverrun might occur, Total time : 5850.716 us (Expected < 1666.667 us) --> Read time : 183.553 us, Update time : 5251.876 us, Write time : 415.287 us[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.264ms + 31.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386248 ms (missed cycles : 2). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386248 ms (missed cycles : 2).[0m ×2 + 31.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.873ms + 32.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.514ms + 32.30sWARNcontroller_managerOverrun might occur, Total time : 3625.286 us (Expected < 1666.667 us) --> Read time : 134.942 us, Update time : 3077.287 us, Write time : 413.057 us + 32.30sWARNros2_control_nodeOverrun might occur, Total time : 3625.286 us (Expected < 1666.667 us) --> Read time : 134.942 us, Update time : 3077.287 us, Write time : 413.057 us[0m ×2 + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.923245 ms (missed cycles : 6). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.923245 ms (missed cycles : 6).[0m ×2 + 32.90sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.75sWARNcontroller_managerOverrun might occur, Total time : 5456.010 us (Expected < 1666.667 us) --> Read time : 141.802 us, Update time : 4982.052 us, Write time : 332.156 us + 33.75sWARNros2_control_nodeOverrun might occur, Total time : 5456.010 us (Expected < 1666.667 us) --> Read time : 141.802 us, Update time : 4982.052 us, Write time : 332.156 us[0m ×2 + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.257461 ms (missed cycles : 6). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.257461 ms (missed cycles : 6).[0m ×2 + 34.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.087ms + 34.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.536ms + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717191 ms (missed cycles : 3). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717191 ms (missed cycles : 3).[0m ×2 + 35.08sWARNcontroller_managerOverrun might occur, Total time : 1719.702 us (Expected < 1666.667 us) --> Read time : 134.683 us, Update time : 1080.780 us, Write time : 504.239 us + 35.08sWARNros2_control_nodeOverrun might occur, Total time : 1719.702 us (Expected < 1666.667 us) --> Read time : 134.683 us, Update time : 1080.780 us, Write time : 504.239 us[0m ×2 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078122 ms (missed cycles : 4). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078122 ms (missed cycles : 4).[0m ×2 + 36.18sWARNcontroller_managerOverrun might occur, Total time : 2412.905 us (Expected < 1666.667 us) --> Read time : 113.682 us, Update time : 1860.485 us, Write time : 438.738 us + 36.18sWARNros2_control_nodeOverrun might occur, Total time : 2412.905 us (Expected < 1666.667 us) --> Read time : 113.682 us, Update time : 1860.485 us, Write time : 438.738 us[0m ×2 + 36.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.112ms + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167591 ms (missed cycles : 2). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167591 ms (missed cycles : 2).[0m ×2 + 37.61sWARNcontroller_managerOverrun might occur, Total time : 4437.892 us (Expected < 1666.667 us) --> Read time : 141.483 us, Update time : 3959.073 us, Write time : 337.336 us + 37.62sWARNros2_control_nodeOverrun might occur, Total time : 4437.892 us (Expected < 1666.667 us) --> Read time : 141.483 us, Update time : 3959.073 us, Write time : 337.336 us[0m ×2 + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146500 ms (missed cycles : 2). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146500 ms (missed cycles : 2).[0m ×2 + 38.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.039ms + 39.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674743 ms (missed cycles : 2). + 39.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674743 ms (missed cycles : 2).[0m ×2 + 39.28sWARNcontroller_managerOverrun might occur, Total time : 4161.036 us (Expected < 1666.667 us) --> Read time : 139.343 us, Update time : 3685.237 us, Write time : 336.456 us + 39.28sWARNros2_control_nodeOverrun might occur, Total time : 4161.036 us (Expected < 1666.667 us) --> Read time : 139.343 us, Update time : 3685.237 us, Write time : 336.456 us[0m ×2 + 40.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759578 ms (missed cycles : 3). + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759578 ms (missed cycles : 3).[0m ×2 + 40.42sWARNcontroller_managerOverrun might occur, Total time : 4800.988 us (Expected < 1666.667 us) --> Read time : 185.553 us, Update time : 4229.188 us, Write time : 386.247 us + 40.42sWARNros2_control_nodeOverrun might occur, Total time : 4800.988 us (Expected < 1666.667 us) --> Read time : 185.553 us, Update time : 4229.188 us, Write time : 386.247 us[0m ×2 + 41.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.559ms + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072196 ms (missed cycles : 2). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072196 ms (missed cycles : 2).[0m ×2 + 41.45sWARNcontroller_managerOverrun might occur, Total time : 2455.515 us (Expected < 1666.667 us) --> Read time : 204.974 us, Update time : 1889.514 us, Write time : 361.027 us + 41.45sWARNros2_control_nodeOverrun might occur, Total time : 2455.515 us (Expected < 1666.667 us) --> Read time : 204.974 us, Update time : 1889.514 us, Write time : 361.027 us[0m ×2 + 42.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196753 ms (missed cycles : 5). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196753 ms (missed cycles : 5).[0m ×2 + 42.88sWARNcontroller_managerOverrun might occur, Total time : 1704.291 us (Expected < 1666.667 us) --> Read time : 1055.539 us, Update time : 189.644 us, Write time : 459.108 us + 42.88sWARNros2_control_nodeOverrun might occur, Total time : 1704.291 us (Expected < 1666.667 us) --> Read time : 1055.539 us, Update time : 189.644 us, Write time : 459.108 us[0m ×2 + 43.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.250ms + 43.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715946 ms (missed cycles : 2). + 43.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715946 ms (missed cycles : 2).[0m ×2 + 43.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.895ms + 43.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.832ms + 44.15sWARNcontroller_managerOverrun might occur, Total time : 5120.194 us (Expected < 1666.667 us) --> Read time : 133.732 us, Update time : 4560.254 us, Write time : 426.208 us + 44.16sWARNros2_control_nodeOverrun might occur, Total time : 5120.194 us (Expected < 1666.667 us) --> Read time : 133.732 us, Update time : 4560.254 us, Write time : 426.208 us[0m ×2 + 44.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289608 ms (missed cycles : 5). + 44.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289608 ms (missed cycles : 5).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770596 ms (missed cycles : 3). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770596 ms (missed cycles : 3).[0m ×2 + 45.78sWARNcontroller_managerOverrun might occur, Total time : 2157.760 us (Expected < 1666.667 us) --> Read time : 211.024 us, Update time : 636.992 us, Write time : 1309.744 us + 45.78sWARNros2_control_nodeOverrun might occur, Total time : 2157.760 us (Expected < 1666.667 us) --> Read time : 211.024 us, Update time : 636.992 us, Write time : 1309.744 us[0m ×2 + 45.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.500ms + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847816 ms (missed cycles : 3). + 46.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847816 ms (missed cycles : 3).[0m ×2 + 47.04sWARNcontroller_managerOverrun might occur, Total time : 2031.397 us (Expected < 1666.667 us) --> Read time : 206.613 us, Update time : 730.194 us, Write time : 1094.590 us + 47.04sWARNros2_control_nodeOverrun might occur, Total time : 2031.397 us (Expected < 1666.667 us) --> Read time : 206.613 us, Update time : 730.194 us, Write time : 1094.590 us[0m ×2 + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791111 ms (missed cycles : 3). + 47.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791111 ms (missed cycles : 3).[0m ×2 + 47.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.280ms + 47.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.422ms + 48.27sWARNcontroller_managerOverrun might occur, Total time : 5419.939 us (Expected < 1666.667 us) --> Read time : 237.614 us, Update time : 4780.467 us, Write time : 401.858 us + 48.27sWARNros2_control_nodeOverrun might occur, Total time : 5419.939 us (Expected < 1666.667 us) --> Read time : 237.614 us, Update time : 4780.467 us, Write time : 401.858 us[0m ×2 + 48.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820091 ms (missed cycles : 2). + 48.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820091 ms (missed cycles : 2).[0m ×2 + 49.29sWARNcontroller_managerOverrun might occur, Total time : 1927.265 us (Expected < 1666.667 us) --> Read time : 164.323 us, Update time : 102.602 us, Write time : 1660.340 us + 49.29sWARNros2_control_nodeOverrun might occur, Total time : 1927.265 us (Expected < 1666.667 us) --> Read time : 164.323 us, Update time : 102.602 us, Write time : 1660.340 us[0m ×2 + 49.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218038 ms (missed cycles : 2). + 49.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218038 ms (missed cycles : 2).[0m ×2 + 49.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.967ms + 49.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.386ms + 50.31sWARNcontroller_managerOverrun might occur, Total time : 1747.223 us (Expected < 1666.667 us) --> Read time : 253.985 us, Update time : 219.274 us, Write time : 1273.964 us + 50.31sWARNros2_control_nodeOverrun might occur, Total time : 1747.223 us (Expected < 1666.667 us) --> Read time : 253.985 us, Update time : 219.274 us, Write time : 1273.964 us[0m ×2 + 50.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318003 ms (missed cycles : 4). + 50.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318003 ms (missed cycles : 4).[0m ×2 + 51.11sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.479ms + 51.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.390ms + 51.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802659 ms (missed cycles : 3). + 51.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802659 ms (missed cycles : 3).[0m ×2 + 51.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.681ms + 51.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.245ms + 51.81sWARNcontroller_managerOverrun might occur, Total time : 3032.405 us (Expected < 1666.667 us) --> Read time : 154.973 us, Update time : 2480.315 us, Write time : 397.117 us + 51.81sWARNros2_control_nodeOverrun might occur, Total time : 3032.405 us (Expected < 1666.667 us) --> Read time : 154.973 us, Update time : 2480.315 us, Write time : 397.117 us[0m ×2 + 52.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.717516 ms (missed cycles : 5). + 52.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.717516 ms (missed cycles : 5).[0m ×2 + 53.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.044557 ms (missed cycles : 8). + 53.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.044557 ms (missed cycles : 8).[0m ×2 + 53.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.329ms + 53.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.845ms + 54.50sWARNcontroller_managerOverrun might occur, Total time : 1885.585 us (Expected < 1666.667 us) --> Read time : 202.634 us, Update time : 1399.636 us, Write time : 283.315 us + 54.50sWARNros2_control_nodeOverrun might occur, Total time : 1885.585 us (Expected < 1666.667 us) --> Read time : 202.634 us, Update time : 1399.636 us, Write time : 283.315 us[0m ×2 + 54.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488066 ms (missed cycles : 3). + 54.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488066 ms (missed cycles : 3).[0m ×2 + 55.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738510 ms (missed cycles : 3). + 55.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738510 ms (missed cycles : 3).[0m ×2 + 55.70sWARNcontroller_managerOverrun might occur, Total time : 2360.883 us (Expected < 1666.667 us) --> Read time : 154.193 us, Update time : 1779.083 us, Write time : 427.607 us + 55.70sWARNros2_control_nodeOverrun might occur, Total time : 2360.883 us (Expected < 1666.667 us) --> Read time : 154.193 us, Update time : 1779.083 us, Write time : 427.607 us[0m ×2 + 56.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.979ms + 56.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.340ms + 56.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.424ms + 56.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978809 ms (missed cycles : 3). + 56.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978809 ms (missed cycles : 3).[0m ×2 + 56.85sWARNcontroller_managerOverrun might occur, Total time : 5049.543 us (Expected < 1666.667 us) --> Read time : 144.502 us, Update time : 4484.203 us, Write time : 420.838 us + 56.85sWARNros2_control_nodeOverrun might occur, Total time : 5049.543 us (Expected < 1666.667 us) --> Read time : 144.502 us, Update time : 4484.203 us, Write time : 420.838 us[0m ×2 + 57.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690495 ms (missed cycles : 5). + 57.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690495 ms (missed cycles : 5).[0m ×2 + 57.96sWARNcontroller_managerOverrun might occur, Total time : 1723.222 us (Expected < 1666.667 us) --> Read time : 155.893 us, Update time : 208.624 us, Write time : 1358.705 us + 57.96sWARNros2_control_nodeOverrun might occur, Total time : 1723.222 us (Expected < 1666.667 us) --> Read time : 155.893 us, Update time : 208.624 us, Write time : 1358.705 us[0m ×2 + 58.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.100ms + 58.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.248ms + 58.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.364ms + 58.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781206234.01548076 seconds ×3 + 58.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280586 ms (missed cycles : 2). + 58.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280586 ms (missed cycles : 2).[0m ×2 + 58.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.325ms + 59.01sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.122ms + 59.10sWARNcontroller_managerOverrun might occur, Total time : 3620.046 us (Expected < 1666.667 us) --> Read time : 148.493 us, Update time : 3050.026 us, Write time : 421.527 us + 59.10sWARNros2_control_nodeOverrun might occur, Total time : 3620.046 us (Expected < 1666.667 us) --> Read time : 148.493 us, Update time : 3050.026 us, Write time : 421.527 us[0m ×2 + 59.11sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.389ms + 59.30sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781206234.56751490 seconds. ×3 + 59.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.245ms + 59.67sINFOobjective_server_nodeFound path in 0 iterations (8.3e-07 s). ×2 + 59.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516884 ms (missed cycles : 2). + 59.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516884 ms (missed cycles : 2).[0m ×2 + 60.30sWARNcontroller_managerOverrun might occur, Total time : 2380.634 us (Expected < 1666.667 us) --> Read time : 1862.874 us, Update time : 169.934 us, Write time : 347.826 us + 60.30sWARNros2_control_nodeOverrun might occur, Total time : 2380.634 us (Expected < 1666.667 us) --> Read time : 1862.874 us, Update time : 169.934 us, Write time : 347.826 us[0m ×2 + 60.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.998ms + 60.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755420 ms (missed cycles : 2). + 60.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755420 ms (missed cycles : 2).[0m ×2 + 60.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.444ms + 61.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.119ms + 61.50sWARNcontroller_managerOverrun might occur, Total time : 2508.485 us (Expected < 1666.667 us) --> Read time : 133.292 us, Update time : 2018.207 us, Write time : 356.986 us + 61.50sWARNros2_control_nodeOverrun might occur, Total time : 2508.485 us (Expected < 1666.667 us) --> Read time : 133.292 us, Update time : 2018.207 us, Write time : 356.986 us[0m ×2 + 61.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277168 ms (missed cycles : 4). + 61.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277168 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.1s | 303 warnings · 225 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717632 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717632 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.752ms + 0.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.348ms + 0.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 0.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.741ms + 0.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 0.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.634ms + 0.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.707ms + 0.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.547ms + 0.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.670ms + 0.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.235ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820125 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820125 ms (missed cycles : 3).[0m ×2 + 1.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.841ms + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2097.558 us (Expected < 1666.667 us) --> Read time : 246.294 us, Update time : 1477.137 us, Write time : 374.127 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2097.558 us (Expected < 1666.667 us) --> Read time : 246.294 us, Update time : 1477.137 us, Write time : 374.127 us[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.262ms + 1.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.970ms + 1.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.518ms + 1.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 1.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 1.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.595ms + 1.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms + 1.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.703ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150282 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150282 ms (missed cycles : 5).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.422ms + 2.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.490ms + 2.52sWARNcontroller_managerOverrun might occur, Total time : 3135.987 us (Expected < 1666.667 us) --> Read time : 144.492 us, Update time : 115.302 us, Write time : 2876.193 us + 2.52sWARNros2_control_nodeOverrun might occur, Total time : 3135.987 us (Expected < 1666.667 us) --> Read time : 144.492 us, Update time : 115.302 us, Write time : 2876.193 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659035 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659035 ms (missed cycles : 3).[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 2034.487 us (Expected < 1666.667 us) --> Read time : 176.993 us, Update time : 148.123 us, Write time : 1709.371 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 2034.487 us (Expected < 1666.667 us) --> Read time : 176.993 us, Update time : 148.123 us, Write time : 1709.371 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.70sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781206041.28356099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.198ms + 4.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.163ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237418 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237418 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781206041.83231187 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.427ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.299ms ×2 + 4.86sWARNcontroller_managerOverrun might occur, Total time : 11512.691 us (Expected < 1666.667 us) --> Read time : 146.632 us, Update time : 146.173 us, Write time : 11219.886 us + 4.86sWARNros2_control_nodeOverrun might occur, Total time : 11512.691 us (Expected < 1666.667 us) --> Read time : 146.632 us, Update time : 146.173 us, Write time : 11219.886 us[0m ×2 + 5.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.286ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816769 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816769 ms (missed cycles : 3).[0m ×2 + 5.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 11.214ms + 5.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.219ms + 5.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.386ms ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1789.423 us (Expected < 1666.667 us) --> Read time : 1356.835 us, Update time : 157.123 us, Write time : 275.465 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1789.423 us (Expected < 1666.667 us) --> Read time : 1356.835 us, Update time : 157.123 us, Write time : 275.465 us[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.02sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.02sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593500 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593500 ms (missed cycles : 2).[0m ×2 + 6.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.426ms + 6.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.727ms + 7.07sWARNcontroller_managerOverrun might occur, Total time : 2265.782 us (Expected < 1666.667 us) --> Read time : 227.934 us, Update time : 1649.100 us, Write time : 388.748 us + 7.07sWARNros2_control_nodeOverrun might occur, Total time : 2265.782 us (Expected < 1666.667 us) --> Read time : 227.934 us, Update time : 1649.100 us, Write time : 388.748 us[0m ×2 + 7.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.354ms + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614538 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614538 ms (missed cycles : 3).[0m ×2 + 8.35sWARNcontroller_managerOverrun might occur, Total time : 4705.886 us (Expected < 1666.667 us) --> Read time : 215.974 us, Update time : 4083.164 us, Write time : 406.748 us + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243274 ms (missed cycles : 4). + 8.35sWARNros2_control_nodeOverrun might occur, Total time : 4705.886 us (Expected < 1666.667 us) --> Read time : 215.974 us, Update time : 4083.164 us, Write time : 406.748 us[0m ×2 + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243274 ms (missed cycles : 4).[0m ×2 + 8.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.412ms + 9.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.233ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419357 ms (missed cycles : 4). + 9.38sWARNcontroller_managerOverrun might occur, Total time : 1667.970 us (Expected < 1666.667 us) --> Read time : 122.192 us, Update time : 1227.173 us, Write time : 318.605 us + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419357 ms (missed cycles : 4).[0m ×2 + 9.38sWARNros2_control_nodeOverrun might occur, Total time : 1667.970 us (Expected < 1666.667 us) --> Read time : 122.192 us, Update time : 1227.173 us, Write time : 318.605 us[0m ×2 + 9.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.167ms + 10.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.488ms + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592225 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592225 ms (missed cycles : 4).[0m ×2 + 10.77sWARNcontroller_managerOverrun might occur, Total time : 1733.611 us (Expected < 1666.667 us) --> Read time : 164.453 us, Update time : 428.388 us, Write time : 1140.770 us + 10.77sWARNros2_control_nodeOverrun might occur, Total time : 1733.611 us (Expected < 1666.667 us) --> Read time : 164.453 us, Update time : 428.388 us, Write time : 1140.770 us[0m ×2 + 10.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.638ms + 11.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.613ms + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349798 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349798 ms (missed cycles : 3).[0m ×2 + 11.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.452ms + 12.18sWARNcontroller_managerOverrun might occur, Total time : 3673.707 us (Expected < 1666.667 us) --> Read time : 224.875 us, Update time : 3063.025 us, Write time : 385.807 us + 12.18sWARNros2_control_nodeOverrun might occur, Total time : 3673.707 us (Expected < 1666.667 us) --> Read time : 224.875 us, Update time : 3063.025 us, Write time : 385.807 us[0m ×2 + 12.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.073ms + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.113276 ms (missed cycles : 7). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.113276 ms (missed cycles : 7).[0m ×2 + 12.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.212ms + 13.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.645ms + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.521030 ms (missed cycles : 6). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.521030 ms (missed cycles : 6).[0m ×2 + 13.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 7.755ms + 14.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.483ms + 14.46sWARNcontroller_managerOverrun might occur, Total time : 1994.296 us (Expected < 1666.667 us) --> Read time : 1517.078 us, Update time : 135.312 us, Write time : 341.906 us + 14.46sWARNros2_control_nodeOverrun might occur, Total time : 1994.296 us (Expected < 1666.667 us) --> Read time : 1517.078 us, Update time : 135.312 us, Write time : 341.906 us[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316806 ms (missed cycles : 4). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316806 ms (missed cycles : 4).[0m ×2 + 14.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.056ms + 15.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.063ms + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.007955 ms (missed cycles : 7). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.007955 ms (missed cycles : 7).[0m ×2 + 15.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.085ms + 15.97sWARNcontroller_managerOverrun might occur, Total time : 2196.190 us (Expected < 1666.667 us) --> Read time : 1679.470 us, Update time : 140.763 us, Write time : 375.957 us + 15.97sWARNros2_control_nodeOverrun might occur, Total time : 2196.190 us (Expected < 1666.667 us) --> Read time : 1679.470 us, Update time : 140.763 us, Write time : 375.957 us[0m ×2 + 16.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.151ms + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092485 ms (missed cycles : 5). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092485 ms (missed cycles : 5).[0m ×2 + 16.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.604ms + 17.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.082ms + 17.72sWARNcontroller_managerOverrun might occur, Total time : 3025.295 us (Expected < 1666.667 us) --> Read time : 119.772 us, Update time : 2574.347 us, Write time : 331.176 us + 17.73sWARNros2_control_nodeOverrun might occur, Total time : 3025.295 us (Expected < 1666.667 us) --> Read time : 119.772 us, Update time : 2574.347 us, Write time : 331.176 us[0m ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363091 ms (missed cycles : 4). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363091 ms (missed cycles : 4).[0m ×2 + 17.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.962ms ×3 + 18.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.584ms + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116980 ms (missed cycles : 2). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116980 ms (missed cycles : 2).[0m ×2 + 18.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.420ms + 19.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.199ms + 19.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.062ms + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740289 ms (missed cycles : 2). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740289 ms (missed cycles : 2).[0m ×2 + 20.30sWARNcontroller_managerOverrun might occur, Total time : 2095.218 us (Expected < 1666.667 us) --> Read time : 210.304 us, Update time : 454.678 us, Write time : 1430.236 us + 20.30sWARNros2_control_nodeOverrun might occur, Total time : 2095.218 us (Expected < 1666.667 us) --> Read time : 210.304 us, Update time : 454.678 us, Write time : 1430.236 us[0m ×2 + 20.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.216ms + 20.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.335ms + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320562 ms (missed cycles : 2). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320562 ms (missed cycles : 2).[0m ×2 + 21.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.466ms ×2 + 21.39sWARNcontroller_managerOverrun might occur, Total time : 2347.663 us (Expected < 1666.667 us) --> Read time : 196.914 us, Update time : 1759.042 us, Write time : 391.707 us + 21.39sWARNros2_control_nodeOverrun might occur, Total time : 2347.663 us (Expected < 1666.667 us) --> Read time : 196.914 us, Update time : 1759.042 us, Write time : 391.707 us[0m ×2 + 21.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.333ms + 22.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.258ms + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384247 ms (missed cycles : 4). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384247 ms (missed cycles : 4).[0m ×2 + 22.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.479ms + 22.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.355ms + 22.88sWARNcontroller_managerOverrun might occur, Total time : 3115.536 us (Expected < 1666.667 us) --> Read time : 410.287 us, Update time : 97.322 us, Write time : 2607.927 us + 22.88sWARNros2_control_nodeOverrun might occur, Total time : 3115.536 us (Expected < 1666.667 us) --> Read time : 410.287 us, Update time : 97.322 us, Write time : 2607.927 us[0m ×2 + 22.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.807ms + 22.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.536ms + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998564 ms (missed cycles : 6). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998564 ms (missed cycles : 6).[0m ×2 + 23.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.390ms + 23.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.368ms ×2 + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.929507 ms (missed cycles : 6). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.929507 ms (missed cycles : 6).[0m ×2 + 24.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.774ms + 24.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.475ms + 24.76sWARNcontroller_managerOverrun might occur, Total time : 2323.962 us (Expected < 1666.667 us) --> Read time : 220.094 us, Update time : 144.832 us, Write time : 1959.036 us + 24.76sWARNros2_control_nodeOverrun might occur, Total time : 2323.962 us (Expected < 1666.667 us) --> Read time : 220.094 us, Update time : 144.832 us, Write time : 1959.036 us[0m ×2 + 24.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.999ms + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751399 ms (missed cycles : 2). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751399 ms (missed cycles : 2).[0m ×2 + 25.79sWARNcontroller_managerOverrun might occur, Total time : 2891.273 us (Expected < 1666.667 us) --> Read time : 111.702 us, Update time : 2473.215 us, Write time : 306.356 us + 25.80sWARNros2_control_nodeOverrun might occur, Total time : 2891.273 us (Expected < 1666.667 us) --> Read time : 111.702 us, Update time : 2473.215 us, Write time : 306.356 us[0m ×2 + 25.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.266ms + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078965 ms (missed cycles : 3). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078965 ms (missed cycles : 3).[0m ×2 + 26.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.380ms + 26.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.064ms + 27.23sWARNcontroller_managerOverrun might occur, Total time : 5002.482 us (Expected < 1666.667 us) --> Read time : 129.893 us, Update time : 4386.660 us, Write time : 485.929 us + 27.23sWARNros2_control_nodeOverrun might occur, Total time : 5002.482 us (Expected < 1666.667 us) --> Read time : 129.893 us, Update time : 4386.660 us, Write time : 485.929 us[0m ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428466 ms (missed cycles : 4). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428466 ms (missed cycles : 4).[0m ×2 + 27.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.356ms + 27.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.388ms + 27.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.552ms + 28.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.126ms + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786461 ms (missed cycles : 3). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786461 ms (missed cycles : 3).[0m ×2 + 28.39sWARNcontroller_managerOverrun might occur, Total time : 1855.443 us (Expected < 1666.667 us) --> Read time : 115.882 us, Update time : 654.742 us, Write time : 1084.819 us + 28.39sWARNros2_control_nodeOverrun might occur, Total time : 1855.443 us (Expected < 1666.667 us) --> Read time : 115.882 us, Update time : 654.742 us, Write time : 1084.819 us[0m ×2 + 28.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.748ms + 29.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.418ms + 29.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299598 ms (missed cycles : 5). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299598 ms (missed cycles : 5).[0m ×2 + 29.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.242ms + 30.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.297ms + 30.20sWARNcontroller_managerOverrun might occur, Total time : 4416.868 us (Expected < 1666.667 us) --> Read time : 111.022 us, Update time : 4002.591 us, Write time : 303.255 us + 30.21sWARNros2_control_nodeOverrun might occur, Total time : 4416.868 us (Expected < 1666.667 us) --> Read time : 111.022 us, Update time : 4002.591 us, Write time : 303.255 us[0m ×2 + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436602 ms (missed cycles : 6). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436602 ms (missed cycles : 6).[0m ×2 + 30.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.469ms + 30.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.465ms ×2 + 31.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.410ms + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750083 ms (missed cycles : 3). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750083 ms (missed cycles : 3).[0m ×2 + 32.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.317ms + 32.51sWARNcontroller_managerOverrun might occur, Total time : 6629.978 us (Expected < 1666.667 us) --> Read time : 182.303 us, Update time : 6029.657 us, Write time : 418.018 us + 32.52sWARNros2_control_nodeOverrun might occur, Total time : 6629.978 us (Expected < 1666.667 us) --> Read time : 182.303 us, Update time : 6029.657 us, Write time : 418.018 us[0m ×2 + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502074 ms (missed cycles : 4). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502074 ms (missed cycles : 4).[0m ×2 + 33.62sWARNcontroller_managerOverrun might occur, Total time : 1886.987 us (Expected < 1666.667 us) --> Read time : 159.704 us, Update time : 804.375 us, Write time : 922.908 us + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505713 ms (missed cycles : 2). + 33.62sWARNros2_control_nodeOverrun might occur, Total time : 1886.987 us (Expected < 1666.667 us) --> Read time : 159.704 us, Update time : 804.375 us, Write time : 922.908 us[0m ×2 + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505713 ms (missed cycles : 2).[0m ×2 + 33.76sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.53sINFOobjective_server_nodePlanning for 53 path waypoints. ×3 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685079 ms (missed cycles : 2). + 34.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685079 ms (missed cycles : 2).[0m ×2 + 34.74sWARNcontroller_managerOverrun might occur, Total time : 4788.743 us (Expected < 1666.667 us) --> Read time : 140.603 us, Update time : 4314.173 us, Write time : 333.967 us + 34.75sWARNros2_control_nodeOverrun might occur, Total time : 4788.743 us (Expected < 1666.667 us) --> Read time : 140.603 us, Update time : 4314.173 us, Write time : 333.967 us[0m ×2 + 35.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.904ms + 35.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.278ms + 35.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.206ms + 35.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841825 ms (missed cycles : 6). + 35.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.841825 ms (missed cycles : 6).[0m ×2 + 35.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.432ms + 35.96sWARNcontroller_managerOverrun might occur, Total time : 4697.811 us (Expected < 1666.667 us) --> Read time : 133.113 us, Update time : 150.043 us, Write time : 4414.655 us + 35.97sWARNros2_control_nodeOverrun might occur, Total time : 4697.811 us (Expected < 1666.667 us) --> Read time : 133.113 us, Update time : 150.043 us, Write time : 4414.655 us[0m ×2 + 36.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.305ms + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672892 ms (missed cycles : 3). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672892 ms (missed cycles : 3).[0m ×2 + 37.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.276ms ×2 + 37.29sWARNcontroller_managerOverrun might occur, Total time : 2355.726 us (Expected < 1666.667 us) --> Read time : 218.595 us, Update time : 218.014 us, Write time : 1919.117 us + 37.29sWARNros2_control_nodeOverrun might occur, Total time : 2355.726 us (Expected < 1666.667 us) --> Read time : 218.595 us, Update time : 218.014 us, Write time : 1919.117 us[0m ×2 + 37.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.172ms + 37.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250833 ms (missed cycles : 4). + 37.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250833 ms (missed cycles : 4).[0m ×2 + 37.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.193ms + 38.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.075ms + 38.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 7.244ms + 38.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.546ms + 38.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.265ms + 38.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.394ms + 38.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.239ms + 38.92sWARNcontroller_managerOverrun might occur, Total time : 2215.162 us (Expected < 1666.667 us) --> Read time : 245.314 us, Update time : 1534.270 us, Write time : 435.578 us + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099565 ms (missed cycles : 3). + 38.92sWARNros2_control_nodeOverrun might occur, Total time : 2215.162 us (Expected < 1666.667 us) --> Read time : 245.314 us, Update time : 1534.270 us, Write time : 435.578 us[0m ×2 + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099565 ms (missed cycles : 3).[0m ×2 + 39.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.967ms + 39.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.562ms + 40.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801005 ms (missed cycles : 3). + 40.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801005 ms (missed cycles : 3).[0m ×2 + 40.06sWARNcontroller_managerOverrun might occur, Total time : 1670.153 us (Expected < 1666.667 us) --> Read time : 223.605 us, Update time : 927.928 us, Write time : 518.620 us + 40.06sWARNros2_control_nodeOverrun might occur, Total time : 1670.153 us (Expected < 1666.667 us) --> Read time : 223.605 us, Update time : 927.928 us, Write time : 518.620 us[0m ×2 + 40.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.430ms + 40.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.406ms + 40.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.248ms + 40.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.079ms + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283900 ms (missed cycles : 2). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283900 ms (missed cycles : 2).[0m ×2 + 41.11sWARNcontroller_managerOverrun might occur, Total time : 6457.765 us (Expected < 1666.667 us) --> Read time : 119.343 us, Update time : 5968.955 us, Write time : 369.467 us + 41.11sWARNros2_control_nodeOverrun might occur, Total time : 6457.765 us (Expected < 1666.667 us) --> Read time : 119.343 us, Update time : 5968.955 us, Write time : 369.467 us[0m ×2 + 42.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886683 ms (missed cycles : 2). + 42.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886683 ms (missed cycles : 2).[0m ×2 + 42.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.839ms + 42.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.434ms ×2 + 42.96sINFOros2_control_nodeMuJoCo sim: 0.89% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126831 ms (missed cycles : 2). + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126831 ms (missed cycles : 2).[0m ×2 + 43.23sWARNcontroller_managerOverrun might occur, Total time : 4579.888 us (Expected < 1666.667 us) --> Read time : 134.273 us, Update time : 3970.176 us, Write time : 475.439 us + 43.23sWARNros2_control_nodeOverrun might occur, Total time : 4579.888 us (Expected < 1666.667 us) --> Read time : 134.273 us, Update time : 3970.176 us, Write time : 475.439 us[0m ×2 + 44.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.720ms + 44.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727016 ms (missed cycles : 2). + 44.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727016 ms (missed cycles : 2).[0m ×2 + 44.37sWARNcontroller_managerOverrun might occur, Total time : 4606.109 us (Expected < 1666.667 us) --> Read time : 126.762 us, Update time : 4081.369 us, Write time : 397.978 us + 44.37sWARNros2_control_nodeOverrun might occur, Total time : 4606.109 us (Expected < 1666.667 us) --> Read time : 126.762 us, Update time : 4081.369 us, Write time : 397.978 us[0m ×2 + 44.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.296ms + 44.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.763ms + 44.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.449ms + 45.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101231 ms (missed cycles : 2). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101231 ms (missed cycles : 2).[0m ×2 + 45.93sWARNcontroller_managerOverrun might occur, Total time : 1724.574 us (Expected < 1666.667 us) --> Read time : 136.813 us, Update time : 490.809 us, Write time : 1096.952 us + 45.93sWARNros2_control_nodeOverrun might occur, Total time : 1724.574 us (Expected < 1666.667 us) --> Read time : 136.813 us, Update time : 490.809 us, Write time : 1096.952 us[0m ×2 + 46.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.643ms + 46.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356504 ms (missed cycles : 2). + 46.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356504 ms (missed cycles : 2).[0m ×2 + 46.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.140ms + 46.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.159ms + 47.09sWARNcontroller_managerOverrun might occur, Total time : 2879.306 us (Expected < 1666.667 us) --> Read time : 154.843 us, Update time : 2363.626 us, Write time : 360.837 us + 47.09sWARNros2_control_nodeOverrun might occur, Total time : 2879.306 us (Expected < 1666.667 us) --> Read time : 154.843 us, Update time : 2363.626 us, Write time : 360.837 us[0m ×2 + 47.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.803ms + 47.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.166ms + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776745 ms (missed cycles : 3). + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776745 ms (missed cycles : 3).[0m ×2 + 47.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.865ms + 48.11sWARNcontroller_managerOverrun might occur, Total time : 2287.115 us (Expected < 1666.667 us) --> Read time : 168.273 us, Update time : 1705.204 us, Write time : 413.638 us + 48.12sWARNros2_control_nodeOverrun might occur, Total time : 2287.115 us (Expected < 1666.667 us) --> Read time : 168.273 us, Update time : 1705.204 us, Write time : 413.638 us[0m ×2 + 48.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826565 ms (missed cycles : 3). + 48.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826565 ms (missed cycles : 3).[0m ×2 + 48.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.938ms + 49.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.271ms + 49.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.155ms + 49.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518151 ms (missed cycles : 3). + 49.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518151 ms (missed cycles : 3).[0m ×2 + 50.28sWARNcontroller_managerOverrun might occur, Total time : 4585.659 us (Expected < 1666.667 us) --> Read time : 135.313 us, Update time : 217.344 us, Write time : 4233.002 us + 50.29sWARNros2_control_nodeOverrun might occur, Total time : 4585.659 us (Expected < 1666.667 us) --> Read time : 135.313 us, Update time : 217.344 us, Write time : 4233.002 us[0m ×2 + 50.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643218 ms (missed cycles : 3). + 50.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643218 ms (missed cycles : 3).[0m ×2 + 51.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582031 ms (missed cycles : 2). + 51.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582031 ms (missed cycles : 2).[0m ×2 + 51.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.999ms + 51.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.764ms + 51.95sWARNcontroller_managerOverrun might occur, Total time : 8431.724 us (Expected < 1666.667 us) --> Read time : 676.533 us, Update time : 7236.941 us, Write time : 518.250 us + 51.95sWARNros2_control_nodeOverrun might occur, Total time : 8431.724 us (Expected < 1666.667 us) --> Read time : 676.533 us, Update time : 7236.941 us, Write time : 518.250 us[0m ×2 + 52.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.018ms ×2 + 52.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393971 ms (missed cycles : 4). + 52.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393971 ms (missed cycles : 4).[0m ×2 + 53.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.027ms + 53.43sWARNcontroller_managerOverrun might occur, Total time : 1787.694 us (Expected < 1666.667 us) --> Read time : 135.872 us, Update time : 740.255 us, Write time : 911.567 us + 53.43sWARNros2_control_nodeOverrun might occur, Total time : 1787.694 us (Expected < 1666.667 us) --> Read time : 135.872 us, Update time : 740.255 us, Write time : 911.567 us[0m ×2 + 53.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474803 ms (missed cycles : 2). + 53.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474803 ms (missed cycles : 2).[0m ×2 + 54.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.068ms + 54.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732366 ms (missed cycles : 2). + 54.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732366 ms (missed cycles : 2).[0m ×2 + 54.69sWARNcontroller_managerOverrun might occur, Total time : 1978.439 us (Expected < 1666.667 us) --> Read time : 141.093 us, Update time : 1525.200 us, Write time : 312.146 us + 54.69sWARNros2_control_nodeOverrun might occur, Total time : 1978.439 us (Expected < 1666.667 us) --> Read time : 141.093 us, Update time : 1525.200 us, Write time : 312.146 us[0m ×2 + 55.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.820ms + 55.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255527 ms (missed cycles : 3). + 55.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255527 ms (missed cycles : 3).[0m ×2 + 55.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.626ms + 56.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.796ms + 56.13sWARNcontroller_managerOverrun might occur, Total time : 1856.616 us (Expected < 1666.667 us) --> Read time : 706.394 us, Update time : 143.523 us, Write time : 1006.699 us + 56.13sWARNros2_control_nodeOverrun might occur, Total time : 1856.616 us (Expected < 1666.667 us) --> Read time : 706.394 us, Update time : 143.523 us, Write time : 1006.699 us[0m ×2 + 56.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.297318 ms (missed cycles : 6). + 56.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.297318 ms (missed cycles : 6).[0m ×2 + 57.18sWARNcontroller_managerOverrun might occur, Total time : 5051.418 us (Expected < 1666.667 us) --> Read time : 136.042 us, Update time : 4493.638 us, Write time : 421.738 us + 57.18sWARNros2_control_nodeOverrun might occur, Total time : 5051.418 us (Expected < 1666.667 us) --> Read time : 136.042 us, Update time : 4493.638 us, Write time : 421.738 us[0m ×2 + 57.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.891ms + 57.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754663 ms (missed cycles : 2). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754663 ms (missed cycles : 2).[0m ×2 + 57.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781206095.34245276 seconds ×3 + 57.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.790ms + 58.19sWARNcontroller_managerOverrun might occur, Total time : 1787.214 us (Expected < 1666.667 us) --> Read time : 199.174 us, Update time : 1267.644 us, Write time : 320.396 us + 58.20sWARNros2_control_nodeOverrun might occur, Total time : 1787.214 us (Expected < 1666.667 us) --> Read time : 199.174 us, Update time : 1267.644 us, Write time : 320.396 us[0m ×2 + 58.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.854ms ×2 + 58.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.002ms + 58.35sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781206095.88795733 seconds. ×3 + 58.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.919ms + 58.73sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 58.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838595 ms (missed cycles : 2). + 58.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838595 ms (missed cycles : 2).[0m ×2 + 58.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.336ms + 59.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.267ms + 59.29sWARNcontroller_managerOverrun might occur, Total time : 3058.028 us (Expected < 1666.667 us) --> Read time : 135.232 us, Update time : 2529.469 us, Write time : 393.327 us + 59.29sWARNros2_control_nodeOverrun might occur, Total time : 3058.028 us (Expected < 1666.667 us) --> Read time : 135.232 us, Update time : 2529.469 us, Write time : 393.327 us[0m ×2 + 59.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.319ms + 59.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.968ms + 59.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828245 ms (missed cycles : 3). + 59.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828245 ms (missed cycles : 3).[0m ×2 + 59.97sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 60.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.978ms + 60.49sWARNcontroller_managerOverrun might occur, Total time : 2420.197 us (Expected < 1666.667 us) --> Read time : 145.863 us, Update time : 1929.577 us, Write time : 344.757 us + 60.49sWARNros2_control_nodeOverrun might occur, Total time : 2420.197 us (Expected < 1666.667 us) --> Read time : 145.863 us, Update time : 1929.577 us, Write time : 344.757 us[0m ×2 + 60.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.828ms + 60.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.024ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 252 warnings · 202 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.15sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.42sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.43sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.43sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.45sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.47sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 0.87sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.87sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.87sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.87sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.89sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 0.89sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 0.94sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.95sINFOforce_torque_sensor_broadcasterconfigure successful + 0.95sINFOros2_control_nodeconfigure successful[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.96sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.97sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.76sINFOmove_groupClearing octomap...[0m ×2 + 1.76sINFOmove_groupOctomap cleared.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 2.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 3.56sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 3.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.28sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.75sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.75sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199913 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199913 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun might occur, Total time : 2563.445 us (Expected < 1666.667 us) --> Read time : 350.546 us, Update time : 172.563 us, Write time : 2040.336 us + 6.93sWARNros2_control_nodeOverrun might occur, Total time : 2563.445 us (Expected < 1666.667 us) --> Read time : 350.546 us, Update time : 172.563 us, Write time : 2040.336 us[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913711 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913711 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun might occur, Total time : 2605.777 us (Expected < 1666.667 us) --> Read time : 159.853 us, Update time : 108.732 us, Write time : 2337.192 us + 8.36sWARNros2_control_nodeOverrun might occur, Total time : 2605.777 us (Expected < 1666.667 us) --> Read time : 159.853 us, Update time : 108.732 us, Write time : 2337.192 us[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301531 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301531 ms (missed cycles : 2).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748520 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748520 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun might occur, Total time : 2091.338 us (Expected < 1666.667 us) --> Read time : 158.043 us, Update time : 1539.448 us, Write time : 393.847 us + 10.34sWARNros2_control_nodeOverrun might occur, Total time : 2091.338 us (Expected < 1666.667 us) --> Read time : 158.043 us, Update time : 1539.448 us, Write time : 393.847 us[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651968 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651968 ms (missed cycles : 3).[0m ×2 + 11.34sWARNcontroller_managerOverrun might occur, Total time : 1773.831 us (Expected < 1666.667 us) --> Read time : 184.843 us, Update time : 1300.613 us, Write time : 288.375 us + 11.34sWARNros2_control_nodeOverrun might occur, Total time : 1773.831 us (Expected < 1666.667 us) --> Read time : 184.843 us, Update time : 1300.613 us, Write time : 288.375 us[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146052 ms (missed cycles : 3). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146052 ms (missed cycles : 3).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.243652 ms (missed cycles : 5). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.243652 ms (missed cycles : 5).[0m ×2 + 13.16sWARNcontroller_managerOverrun might occur, Total time : 3498.273 us (Expected < 1666.667 us) --> Read time : 155.533 us, Update time : 2935.933 us, Write time : 406.807 us + 13.16sWARNros2_control_nodeOverrun might occur, Total time : 3498.273 us (Expected < 1666.667 us) --> Read time : 155.533 us, Update time : 2935.933 us, Write time : 406.807 us[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726457 ms (missed cycles : 3). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726457 ms (missed cycles : 3).[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697575 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697575 ms (missed cycles : 3).[0m ×2 + 15.10sWARNcontroller_managerOverrun might occur, Total time : 2137.088 us (Expected < 1666.667 us) --> Read time : 209.944 us, Update time : 203.333 us, Write time : 1723.811 us + 15.11sWARNros2_control_nodeOverrun might occur, Total time : 2137.088 us (Expected < 1666.667 us) --> Read time : 209.944 us, Update time : 203.333 us, Write time : 1723.811 us[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554332 ms (missed cycles : 4). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554332 ms (missed cycles : 4).[0m ×2 + 16.49sWARNcontroller_managerOverrun might occur, Total time : 3567.154 us (Expected < 1666.667 us) --> Read time : 381.807 us, Update time : 959.667 us, Write time : 2225.680 us + 16.49sWARNros2_control_nodeOverrun might occur, Total time : 3567.154 us (Expected < 1666.667 us) --> Read time : 381.807 us, Update time : 959.667 us, Write time : 2225.680 us[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818756 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818756 ms (missed cycles : 3).[0m ×2 + 17.71sWARNcontroller_managerOverrun might occur, Total time : 1704.500 us (Expected < 1666.667 us) --> Read time : 202.793 us, Update time : 259.595 us, Write time : 1242.112 us + 17.71sWARNros2_control_nodeOverrun might occur, Total time : 1704.500 us (Expected < 1666.667 us) --> Read time : 202.793 us, Update time : 259.595 us, Write time : 1242.112 us[0m ×2 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943783 ms (missed cycles : 2). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943783 ms (missed cycles : 2).[0m ×2 + 18.79sWARNcontroller_managerOverrun might occur, Total time : 3503.503 us (Expected < 1666.667 us) --> Read time : 135.293 us, Update time : 3026.864 us, Write time : 341.346 us + 18.79sWARNros2_control_nodeOverrun might occur, Total time : 3503.503 us (Expected < 1666.667 us) --> Read time : 135.293 us, Update time : 3026.864 us, Write time : 341.346 us[0m ×2 + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856116 ms (missed cycles : 5). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856116 ms (missed cycles : 5).[0m ×2 + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961395 ms (missed cycles : 2). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961395 ms (missed cycles : 2).[0m ×2 + 20.16sWARNcontroller_managerOverrun might occur, Total time : 3828.099 us (Expected < 1666.667 us) --> Read time : 153.083 us, Update time : 3157.026 us, Write time : 517.990 us + 20.16sWARNros2_control_nodeOverrun might occur, Total time : 3828.099 us (Expected < 1666.667 us) --> Read time : 153.083 us, Update time : 3157.026 us, Write time : 517.990 us[0m ×2 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.884251 ms (missed cycles : 5). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.884251 ms (missed cycles : 5).[0m ×2 + 21.43sWARNcontroller_managerOverrun might occur, Total time : 3115.815 us (Expected < 1666.667 us) --> Read time : 150.482 us, Update time : 156.763 us, Write time : 2808.570 us + 21.43sWARNros2_control_nodeOverrun might occur, Total time : 3115.815 us (Expected < 1666.667 us) --> Read time : 150.482 us, Update time : 156.763 us, Write time : 2808.570 us[0m ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384545 ms (missed cycles : 4). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384545 ms (missed cycles : 4).[0m ×2 + 22.47sWARNcontroller_managerOverrun might occur, Total time : 1878.853 us (Expected < 1666.667 us) --> Read time : 153.653 us, Update time : 120.952 us, Write time : 1604.248 us + 22.47sWARNros2_control_nodeOverrun might occur, Total time : 1878.853 us (Expected < 1666.667 us) --> Read time : 153.653 us, Update time : 120.952 us, Write time : 1604.248 us[0m ×2 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820374 ms (missed cycles : 2). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820374 ms (missed cycles : 2).[0m ×2 + 23.93sWARNcontroller_managerOverrun might occur, Total time : 2427.162 us (Expected < 1666.667 us) --> Read time : 148.513 us, Update time : 1721.270 us, Write time : 557.379 us + 23.93sWARNros2_control_nodeOverrun might occur, Total time : 2427.162 us (Expected < 1666.667 us) --> Read time : 148.513 us, Update time : 1721.270 us, Write time : 557.379 us[0m ×2 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704707 ms (missed cycles : 2). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704707 ms (missed cycles : 2).[0m ×2 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269361 ms (missed cycles : 4). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269361 ms (missed cycles : 4).[0m ×2 + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.278722 ms (missed cycles : 7). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.278722 ms (missed cycles : 7).[0m ×2 + 27.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571569 ms (missed cycles : 3). + 27.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571569 ms (missed cycles : 3).[0m ×2 + 28.04sWARNcontroller_managerOverrun might occur, Total time : 1901.044 us (Expected < 1666.667 us) --> Read time : 253.705 us, Update time : 1299.093 us, Write time : 348.246 us + 28.04sWARNros2_control_nodeOverrun might occur, Total time : 1901.044 us (Expected < 1666.667 us) --> Read time : 253.705 us, Update time : 1299.093 us, Write time : 348.246 us[0m ×2 + 28.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494796 ms (missed cycles : 3). + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494796 ms (missed cycles : 3).[0m ×2 + 29.06sWARNcontroller_managerOverrun might occur, Total time : 2123.247 us (Expected < 1666.667 us) --> Read time : 172.663 us, Update time : 922.176 us, Write time : 1028.408 us + 29.07sWARNros2_control_nodeOverrun might occur, Total time : 2123.247 us (Expected < 1666.667 us) --> Read time : 172.663 us, Update time : 922.176 us, Write time : 1028.408 us[0m ×2 + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991666 ms (missed cycles : 2). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991666 ms (missed cycles : 2).[0m ×2 + 30.19sWARNcontroller_managerOverrun might occur, Total time : 2441.584 us (Expected < 1666.667 us) --> Read time : 252.734 us, Update time : 1860.524 us, Write time : 328.326 us + 30.19sWARNros2_control_nodeOverrun might occur, Total time : 2441.584 us (Expected < 1666.667 us) --> Read time : 252.734 us, Update time : 1860.524 us, Write time : 328.326 us[0m ×2 + 30.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868960 ms (missed cycles : 2). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868960 ms (missed cycles : 2).[0m ×2 + 31.29sWARNcontroller_managerOverrun might occur, Total time : 2707.038 us (Expected < 1666.667 us) --> Read time : 141.652 us, Update time : 135.373 us, Write time : 2430.013 us + 31.29sWARNros2_control_nodeOverrun might occur, Total time : 2707.038 us (Expected < 1666.667 us) --> Read time : 141.652 us, Update time : 135.373 us, Write time : 2430.013 us[0m ×2 + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090005 ms (missed cycles : 3). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090005 ms (missed cycles : 3).[0m ×2 + 32.29sWARNcontroller_managerOverrun might occur, Total time : 3072.345 us (Expected < 1666.667 us) --> Read time : 157.553 us, Update time : 2371.132 us, Write time : 543.660 us + 32.29sWARNros2_control_nodeOverrun might occur, Total time : 3072.345 us (Expected < 1666.667 us) --> Read time : 157.553 us, Update time : 2371.132 us, Write time : 543.660 us[0m ×2 + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647791 ms (missed cycles : 4). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647791 ms (missed cycles : 4).[0m ×2 + 32.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.300ms + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949973 ms (missed cycles : 2). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949973 ms (missed cycles : 2).[0m ×2 + 33.88sWARNcontroller_managerOverrun might occur, Total time : 2938.042 us (Expected < 1666.667 us) --> Read time : 131.612 us, Update time : 125.342 us, Write time : 2681.088 us + 33.88sWARNros2_control_nodeOverrun might occur, Total time : 2938.042 us (Expected < 1666.667 us) --> Read time : 131.612 us, Update time : 125.342 us, Write time : 2681.088 us[0m ×2 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394189 ms (missed cycles : 3). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394189 ms (missed cycles : 3).[0m ×2 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776170 ms (missed cycles : 3). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776170 ms (missed cycles : 3).[0m ×2 + 35.84sWARNcontroller_managerOverrun might occur, Total time : 2278.741 us (Expected < 1666.667 us) --> Read time : 172.013 us, Update time : 1712.991 us, Write time : 393.737 us + 35.84sWARNros2_control_nodeOverrun might occur, Total time : 2278.741 us (Expected < 1666.667 us) --> Read time : 172.013 us, Update time : 1712.991 us, Write time : 393.737 us[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678046 ms (missed cycles : 3). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678046 ms (missed cycles : 3).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308128 ms (missed cycles : 4). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308128 ms (missed cycles : 4).[0m ×2 + 38.55sWARNcontroller_managerOverrun might occur, Total time : 1878.903 us (Expected < 1666.667 us) --> Read time : 153.512 us, Update time : 1351.324 us, Write time : 374.067 us + 38.55sWARNros2_control_nodeOverrun might occur, Total time : 1878.903 us (Expected < 1666.667 us) --> Read time : 153.512 us, Update time : 1351.324 us, Write time : 374.067 us[0m ×2 + 38.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911777 ms (missed cycles : 5). + 38.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911777 ms (missed cycles : 5).[0m ×2 + 39.56sWARNcontroller_managerOverrun might occur, Total time : 2546.716 us (Expected < 1666.667 us) --> Read time : 154.413 us, Update time : 2060.467 us, Write time : 331.836 us + 39.56sWARNros2_control_nodeOverrun might occur, Total time : 2546.716 us (Expected < 1666.667 us) --> Read time : 154.413 us, Update time : 2060.467 us, Write time : 331.836 us[0m ×2 + 40.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897598 ms (missed cycles : 2). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897598 ms (missed cycles : 2).[0m ×2 + 40.87sWARNcontroller_managerOverrun might occur, Total time : 2672.467 us (Expected < 1666.667 us) --> Read time : 436.867 us, Update time : 144.183 us, Write time : 2091.417 us + 40.88sWARNros2_control_nodeOverrun might occur, Total time : 2672.467 us (Expected < 1666.667 us) --> Read time : 436.867 us, Update time : 144.183 us, Write time : 2091.417 us[0m ×2 + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260218 ms (missed cycles : 3). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260218 ms (missed cycles : 3).[0m ×2 + 42.06sWARNcontroller_managerOverrun might occur, Total time : 1896.394 us (Expected < 1666.667 us) --> Read time : 138.213 us, Update time : 1479.146 us, Write time : 279.035 us + 42.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368592 ms (missed cycles : 2). + 42.06sWARNros2_control_nodeOverrun might occur, Total time : 1896.394 us (Expected < 1666.667 us) --> Read time : 138.213 us, Update time : 1479.146 us, Write time : 279.035 us[0m ×2 + 42.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368592 ms (missed cycles : 2).[0m ×2 + 43.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864751 ms (missed cycles : 3). + 43.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864751 ms (missed cycles : 3).[0m ×2 + 43.26sWARNcontroller_managerOverrun might occur, Total time : 2281.966 us (Expected < 1666.667 us) --> Read time : 145.063 us, Update time : 113.251 us, Write time : 2023.652 us + 43.26sWARNros2_control_nodeOverrun might occur, Total time : 2281.966 us (Expected < 1666.667 us) --> Read time : 145.063 us, Update time : 113.251 us, Write time : 2023.652 us[0m ×2 + 44.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838970 ms (missed cycles : 2). + 44.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838970 ms (missed cycles : 2).[0m ×2 + 44.32sWARNcontroller_managerOverrun might occur, Total time : 5269.814 us (Expected < 1666.667 us) --> Read time : 148.703 us, Update time : 312.605 us, Write time : 4808.506 us + 44.32sWARNros2_control_nodeOverrun might occur, Total time : 5269.814 us (Expected < 1666.667 us) --> Read time : 148.703 us, Update time : 312.605 us, Write time : 4808.506 us[0m ×2 + 45.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418345 ms (missed cycles : 4). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418345 ms (missed cycles : 4).[0m ×2 + 46.12sWARNcontroller_managerOverrun might occur, Total time : 2504.030 us (Expected < 1666.667 us) --> Read time : 219.664 us, Update time : 1940.100 us, Write time : 344.266 us + 46.12sWARNros2_control_nodeOverrun might occur, Total time : 2504.030 us (Expected < 1666.667 us) --> Read time : 219.664 us, Update time : 1940.100 us, Write time : 344.266 us[0m ×2 + 46.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306366 ms (missed cycles : 2). + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306366 ms (missed cycles : 2).[0m ×2 + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116543 ms (missed cycles : 2). + 47.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116543 ms (missed cycles : 2).[0m ×2 + 47.30sINFOjoint_trajectory_controllerGoal reached, success! + 47.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781205944.22842431 seconds ×3 + 47.65sWARNcontroller_managerOverrun might occur, Total time : 1911.050 us (Expected < 1666.667 us) --> Read time : 179.233 us, Update time : 1368.391 us, Write time : 363.426 us + 47.66sWARNros2_control_nodeOverrun might occur, Total time : 1911.050 us (Expected < 1666.667 us) --> Read time : 179.233 us, Update time : 1368.391 us, Write time : 363.426 us[0m ×2 + 47.85sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781205944.77340364 seconds. ×3 + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657262 ms (missed cycles : 4). + 48.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657262 ms (missed cycles : 4).[0m ×2 + 48.82sINFOobjective_server_nodeFound path in 0 iterations (2.979e-05 s). ×2 + 48.82sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.14sWARNcontroller_managerOverrun might occur, Total time : 3052.478 us (Expected < 1666.667 us) --> Read time : 137.552 us, Update time : 2152.034 us, Write time : 762.892 us + 49.14sWARNros2_control_nodeOverrun might occur, Total time : 3052.478 us (Expected < 1666.667 us) --> Read time : 137.552 us, Update time : 2152.034 us, Write time : 762.892 us[0m ×2 + 49.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509773 ms (missed cycles : 4). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509773 ms (missed cycles : 4).[0m ×2 + 50.30sWARNcontroller_managerOverrun might occur, Total time : 3448.934 us (Expected < 1666.667 us) --> Read time : 167.722 us, Update time : 2932.447 us, Write time : 348.765 us + 50.30sWARNros2_control_nodeOverrun might occur, Total time : 3448.934 us (Expected < 1666.667 us) --> Read time : 167.722 us, Update time : 2932.447 us, Write time : 348.765 us[0m ×2 + 50.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216058 ms (missed cycles : 2). + 50.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216058 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 186 warnings · 258 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2).[0m ×2 + 0.21sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.934ms + 0.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.462ms + 0.91sWARNcontroller_managerOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us + 0.92sWARNros2_control_nodeOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580813 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580813 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.319ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710207 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710207 ms (missed cycles : 4).[0m ×2 + 2.39sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.39sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.40sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781206009.49632621 seconds ×3 + 2.46sWARNcontroller_managerOverrun might occur, Total time : 4140.536 us (Expected < 1666.667 us) --> Read time : 137.193 us, Update time : 3680.337 us, Write time : 323.006 us + 2.46sWARNros2_control_nodeOverrun might occur, Total time : 4140.536 us (Expected < 1666.667 us) --> Read time : 137.193 us, Update time : 3680.337 us, Write time : 323.006 us[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816404 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816404 ms (missed cycles : 3).[0m ×2 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 2154.539 us (Expected < 1666.667 us) --> Read time : 148.043 us, Update time : 137.152 us, Write time : 1869.344 us + 3.70sWARNros2_control_nodeOverrun might occur, Total time : 2154.539 us (Expected < 1666.667 us) --> Read time : 148.043 us, Update time : 137.152 us, Write time : 1869.344 us[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781206011.04340363 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.749980 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.749980 ms (missed cycles : 6).[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.458ms + 4.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.920ms + 4.82sWARNcontroller_managerOverrun might occur, Total time : 3162.318 us (Expected < 1666.667 us) --> Read time : 2679.499 us, Update time : 154.933 us, Write time : 327.886 us + 4.83sWARNros2_control_nodeOverrun might occur, Total time : 3162.318 us (Expected < 1666.667 us) --> Read time : 2679.499 us, Update time : 154.933 us, Write time : 327.886 us[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317177 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317177 ms (missed cycles : 2).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.361ms + 5.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.452ms + 5.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.677ms + 6.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.689ms + 6.25sWARNcontroller_managerOverrun might occur, Total time : 2108.148 us (Expected < 1666.667 us) --> Read time : 135.082 us, Update time : 114.912 us, Write time : 1858.154 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 2108.148 us (Expected < 1666.667 us) --> Read time : 135.082 us, Update time : 114.912 us, Write time : 1858.154 us[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986952 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986952 ms (missed cycles : 2).[0m ×2 + 6.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.417ms + 6.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.010ms + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609757 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609757 ms (missed cycles : 4).[0m ×2 + 7.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.590ms + 8.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.438ms ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761369 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761369 ms (missed cycles : 2).[0m ×2 + 8.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.410ms + 9.00sWARNcontroller_managerOverrun might occur, Total time : 3188.198 us (Expected < 1666.667 us) --> Read time : 118.572 us, Update time : 2724.280 us, Write time : 345.346 us + 9.01sWARNros2_control_nodeOverrun might occur, Total time : 3188.198 us (Expected < 1666.667 us) --> Read time : 118.572 us, Update time : 2724.280 us, Write time : 345.346 us[0m ×2 + 9.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.806ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771994 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771994 ms (missed cycles : 2).[0m ×2 + 9.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.366ms + 10.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.800ms + 10.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.755ms ×2 + 10.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.362ms ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170471 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170471 ms (missed cycles : 3).[0m ×2 + 10.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.908ms + 11.03sWARNcontroller_managerOverrun might occur, Total time : 6728.643 us (Expected < 1666.667 us) --> Read time : 243.324 us, Update time : 6098.502 us, Write time : 386.817 us + 11.03sWARNros2_control_nodeOverrun might occur, Total time : 6728.643 us (Expected < 1666.667 us) --> Read time : 243.324 us, Update time : 6098.502 us, Write time : 386.817 us[0m ×2 + 11.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.502ms ×2 + 11.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.825ms + 11.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.023ms + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321726 ms (missed cycles : 4). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321726 ms (missed cycles : 4).[0m ×2 + 11.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.368ms + 12.22sWARNcontroller_managerOverrun might occur, Total time : 4523.252 us (Expected < 1666.667 us) --> Read time : 173.633 us, Update time : 3910.871 us, Write time : 438.748 us + 12.22sWARNros2_control_nodeOverrun might occur, Total time : 4523.252 us (Expected < 1666.667 us) --> Read time : 173.633 us, Update time : 3910.871 us, Write time : 438.748 us[0m ×2 + 12.71sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.942ms + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843457 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843457 ms (missed cycles : 3).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.970ms ×2 + 12.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.487ms + 13.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.585ms + 13.39sINFOros2_control_nodeMuJoCo sim: 0.84% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.731ms + 13.72sWARNcontroller_managerOverrun might occur, Total time : 4690.986 us (Expected < 1666.667 us) --> Read time : 243.755 us, Update time : 167.403 us, Write time : 4279.828 us + 13.73sWARNros2_control_nodeOverrun might occur, Total time : 4690.986 us (Expected < 1666.667 us) --> Read time : 243.755 us, Update time : 167.403 us, Write time : 4279.828 us[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006438 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006438 ms (missed cycles : 2).[0m ×2 + 14.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.396ms + 14.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.226ms + 14.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.385ms + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035278 ms (missed cycles : 2). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035278 ms (missed cycles : 2).[0m ×2 + 14.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.440ms + 14.90sWARNcontroller_managerOverrun might occur, Total time : 1885.995 us (Expected < 1666.667 us) --> Read time : 147.073 us, Update time : 1298.894 us, Write time : 440.028 us + 14.90sWARNros2_control_nodeOverrun might occur, Total time : 1885.995 us (Expected < 1666.667 us) --> Read time : 147.073 us, Update time : 1298.894 us, Write time : 440.028 us[0m ×2 + 15.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.314ms + 15.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.418ms + 15.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.482ms + 15.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.851ms + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008657 ms (missed cycles : 5). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008657 ms (missed cycles : 5).[0m ×2 + 16.20sWARNcontroller_managerOverrun might occur, Total time : 3180.969 us (Expected < 1666.667 us) --> Read time : 137.733 us, Update time : 249.774 us, Write time : 2793.462 us + 16.20sWARNros2_control_nodeOverrun might occur, Total time : 3180.969 us (Expected < 1666.667 us) --> Read time : 137.733 us, Update time : 249.774 us, Write time : 2793.462 us[0m ×2 + 16.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.343ms + 16.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.194ms + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428724 ms (missed cycles : 4). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428724 ms (missed cycles : 4).[0m ×2 + 17.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.559ms + 17.32sWARNcontroller_managerOverrun might occur, Total time : 2789.741 us (Expected < 1666.667 us) --> Read time : 168.643 us, Update time : 2251.021 us, Write time : 370.077 us + 17.32sWARNros2_control_nodeOverrun might occur, Total time : 2789.741 us (Expected < 1666.667 us) --> Read time : 168.643 us, Update time : 2251.021 us, Write time : 370.077 us[0m ×2 + 17.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.433ms + 17.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.164ms + 17.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.981ms + 17.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.471ms + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698405 ms (missed cycles : 2). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698405 ms (missed cycles : 2).[0m ×2 + 18.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 8.305ms + 18.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.762ms ×2 + 18.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.485ms + 18.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.520ms + 18.71sWARNcontroller_managerOverrun might occur, Total time : 2049.957 us (Expected < 1666.667 us) --> Read time : 136.772 us, Update time : 1585.949 us, Write time : 327.236 us + 18.71sWARNros2_control_nodeOverrun might occur, Total time : 2049.957 us (Expected < 1666.667 us) --> Read time : 136.772 us, Update time : 1585.949 us, Write time : 327.236 us[0m ×2 + 18.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.083ms ×3 + 18.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.207ms + 18.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.741ms ×2 + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838840 ms (missed cycles : 3). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838840 ms (missed cycles : 3).[0m ×2 + 19.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.241ms + 19.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.614ms + 19.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.551ms + 19.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.238ms + 19.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.530ms + 19.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.419ms + 19.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.295ms + 19.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.676ms + 20.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961049 ms (missed cycles : 2). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961049 ms (missed cycles : 2).[0m ×2 + 20.06sWARNcontroller_managerOverrun might occur, Total time : 2815.821 us (Expected < 1666.667 us) --> Read time : 229.984 us, Update time : 2235.241 us, Write time : 350.596 us + 20.07sWARNros2_control_nodeOverrun might occur, Total time : 2815.821 us (Expected < 1666.667 us) --> Read time : 229.984 us, Update time : 2235.241 us, Write time : 350.596 us[0m ×2 + 20.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.006ms + 20.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.255ms + 20.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.521ms + 20.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.512ms + 20.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.624ms + 20.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.591ms + 20.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.355ms + 20.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.121ms + 20.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.587ms + 20.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.572ms + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432420 ms (missed cycles : 3). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432420 ms (missed cycles : 3).[0m ×2 + 21.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.201ms + 21.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.377ms + 21.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.336ms + 21.34sWARNcontroller_managerOverrun might occur, Total time : 3155.148 us (Expected < 1666.667 us) --> Read time : 159.233 us, Update time : 791.125 us, Write time : 2204.790 us + 21.34sWARNros2_control_nodeOverrun might occur, Total time : 3155.148 us (Expected < 1666.667 us) --> Read time : 159.233 us, Update time : 791.125 us, Write time : 2204.790 us[0m ×2 + 21.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.505ms + 21.51sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.524ms + 21.61sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.387ms + 21.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.412ms + 21.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.659ms + 21.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.593ms + 22.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.651ms + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401266 ms (missed cycles : 4). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401266 ms (missed cycles : 4).[0m ×2 + 22.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.642ms + 22.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.361ms + 22.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.867ms + 22.43sWARNcontroller_managerOverrun might occur, Total time : 2414.474 us (Expected < 1666.667 us) --> Read time : 194.723 us, Update time : 1864.684 us, Write time : 355.067 us + 22.43sWARNros2_control_nodeOverrun might occur, Total time : 2414.474 us (Expected < 1666.667 us) --> Read time : 194.723 us, Update time : 1864.684 us, Write time : 355.067 us[0m ×2 + 22.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.274ms + 22.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.872ms + 22.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.293ms + 22.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.606ms + 22.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.758ms + 22.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.935ms + 23.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.826ms + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101999 ms (missed cycles : 2). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101999 ms (missed cycles : 2).[0m ×2 + 23.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.705ms + 23.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.086ms + 23.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.888ms + 23.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.827ms + 23.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 7.154ms + 23.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.886ms + 23.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.848ms + 23.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.735ms + 24.01sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.525ms + 24.03sWARNcontroller_managerOverrun might occur, Total time : 2057.837 us (Expected < 1666.667 us) --> Read time : 166.813 us, Update time : 927.797 us, Write time : 963.227 us + 24.04sWARNros2_control_nodeOverrun might occur, Total time : 2057.837 us (Expected < 1666.667 us) --> Read time : 166.813 us, Update time : 927.797 us, Write time : 963.227 us[0m ×2 + 24.11sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.882ms + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.372218 ms (missed cycles : 7). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.372218 ms (missed cycles : 7).[0m ×2 + 24.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.309ms + 24.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.949ms + 24.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.976ms + 24.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.531ms + 24.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 6.632ms + 24.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.163ms + 24.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.455ms + 24.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.662ms + 25.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.380ms + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075188 ms (missed cycles : 5). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075188 ms (missed cycles : 5).[0m ×2 + 25.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.253ms + 25.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.161ms + 25.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.754ms + 25.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.663ms + 25.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.869ms + 25.62sWARNcontroller_managerOverrun might occur, Total time : 2919.914 us (Expected < 1666.667 us) --> Read time : 135.873 us, Update time : 331.406 us, Write time : 2452.635 us + 25.62sWARNros2_control_nodeOverrun might occur, Total time : 2919.914 us (Expected < 1666.667 us) --> Read time : 135.873 us, Update time : 331.406 us, Write time : 2452.635 us[0m ×2 + 25.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.333ms + 25.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.673ms ×2 + 25.91sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.655ms + 26.01sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.739ms + 26.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.774ms + 26.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 9.449ms + 26.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.385304 ms (missed cycles : 7). + 26.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.385304 ms (missed cycles : 7).[0m ×2 + 26.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.772ms + 26.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.808ms + 26.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.686ms + 26.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.004ms + 26.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.805ms + 26.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.285ms ×2 + 26.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.079ms + 26.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.875ms + 27.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.374ms + 27.17sWARNcontroller_managerOverrun might occur, Total time : 1955.845 us (Expected < 1666.667 us) --> Read time : 166.833 us, Update time : 1341.074 us, Write time : 447.938 us + 27.17sWARNros2_control_nodeOverrun might occur, Total time : 1955.845 us (Expected < 1666.667 us) --> Read time : 166.833 us, Update time : 1341.074 us, Write time : 447.938 us[0m ×2 + 27.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.463ms + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651168 ms (missed cycles : 3). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651168 ms (missed cycles : 3).[0m ×2 + 27.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.799ms + 27.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.764ms + 27.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.050ms + 27.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.781ms + 27.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.672ms + 27.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.729ms + 27.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 6.097ms + 28.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.525ms + 28.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.708ms + 28.22sWARNcontroller_managerOverrun might occur, Total time : 1668.040 us (Expected < 1666.667 us) --> Read time : 161.833 us, Update time : 1142.471 us, Write time : 363.736 us + 28.22sWARNros2_control_nodeOverrun might occur, Total time : 1668.040 us (Expected < 1666.667 us) --> Read time : 161.833 us, Update time : 1142.471 us, Write time : 363.736 us[0m ×2 + 28.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.544ms + 28.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318296 ms (missed cycles : 5). + 28.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318296 ms (missed cycles : 5).[0m ×2 + 28.51sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.685ms + 28.61sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.039ms + 28.71sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.617ms + 28.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.701ms + 28.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.263ms + 28.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.974ms + 29.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.607ms + 29.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.153ms + 29.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.596ms + 29.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.702ms + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705406 ms (missed cycles : 2). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705406 ms (missed cycles : 2).[0m ×2 + 29.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.747ms + 29.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.445ms + 29.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.270ms + 29.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.407ms + 29.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.264ms + 29.88sWARNcontroller_managerOverrun might occur, Total time : 1699.941 us (Expected < 1666.667 us) --> Read time : 659.892 us, Update time : 213.694 us, Write time : 826.355 us + 29.88sWARNros2_control_nodeOverrun might occur, Total time : 1699.941 us (Expected < 1666.667 us) --> Read time : 659.892 us, Update time : 213.694 us, Write time : 826.355 us[0m ×2 + 30.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.743ms + 30.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.301ms + 30.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.547ms ×2 + 30.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.675ms + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717632 ms (missed cycles : 2). + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717632 ms (missed cycles : 2).[0m ×2 + 30.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.752ms + 30.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.348ms + 30.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 30.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 30.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.634ms + 31.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.707ms + 31.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.670ms + 31.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.235ms + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820125 ms (missed cycles : 3). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820125 ms (missed cycles : 3).[0m ×2 + 31.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.841ms + 31.56sWARNcontroller_managerOverrun might occur, Total time : 2097.558 us (Expected < 1666.667 us) --> Read time : 246.294 us, Update time : 1477.137 us, Write time : 374.127 us + 31.56sWARNros2_control_nodeOverrun might occur, Total time : 2097.558 us (Expected < 1666.667 us) --> Read time : 246.294 us, Update time : 1477.137 us, Write time : 374.127 us[0m ×2 + 31.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.262ms + 31.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.518ms + 31.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 31.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 32.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.595ms + 32.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms + 32.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.703ms + 32.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150282 ms (missed cycles : 5). + 32.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150282 ms (missed cycles : 5).[0m ×2 + 32.71sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.422ms + 32.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.490ms + 32.95sWARNcontroller_managerOverrun might occur, Total time : 3135.987 us (Expected < 1666.667 us) --> Read time : 144.492 us, Update time : 115.302 us, Write time : 2876.193 us + 32.95sWARNros2_control_nodeOverrun might occur, Total time : 3135.987 us (Expected < 1666.667 us) --> Read time : 144.492 us, Update time : 115.302 us, Write time : 2876.193 us[0m ×2 + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659035 ms (missed cycles : 3). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659035 ms (missed cycles : 3).[0m ×2 + 34.12sWARNcontroller_managerOverrun might occur, Total time : 2034.487 us (Expected < 1666.667 us) --> Read time : 176.993 us, Update time : 148.123 us, Write time : 1709.371 us + 34.12sWARNros2_control_nodeOverrun might occur, Total time : 2034.487 us (Expected < 1666.667 us) --> Read time : 176.993 us, Update time : 148.123 us, Write time : 1709.371 us[0m ×2 + 34.18sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781206041.28356099 seconds ×3 + 34.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.198ms + 34.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.163ms + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237418 ms (missed cycles : 4). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237418 ms (missed cycles : 4).[0m ×2 + 34.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781206041.83231187 seconds. ×3 + 34.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.427ms + 35.08sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 35.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.299ms + 35.29sWARNcontroller_managerOverrun might occur, Total time : 11512.691 us (Expected < 1666.667 us) --> Read time : 146.632 us, Update time : 146.173 us, Write time : 11219.886 us + 35.29sWARNros2_control_nodeOverrun might occur, Total time : 11512.691 us (Expected < 1666.667 us) --> Read time : 146.632 us, Update time : 146.173 us, Write time : 11219.886 us[0m ×2 + 35.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.286ms + 35.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816769 ms (missed cycles : 3). + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816769 ms (missed cycles : 3).[0m ×2 + 35.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 11.214ms + 36.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.219ms + 36.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.386ms + 36.39sWARNcontroller_managerOverrun might occur, Total time : 1789.423 us (Expected < 1666.667 us) --> Read time : 1356.835 us, Update time : 157.123 us, Write time : 275.465 us + 36.39sWARNros2_control_nodeOverrun might occur, Total time : 1789.423 us (Expected < 1666.667 us) --> Read time : 1356.835 us, Update time : 157.123 us, Write time : 275.465 us[0m ×2 + 36.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593500 ms (missed cycles : 2). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593500 ms (missed cycles : 2).[0m ×2 + 36.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.426ms + 37.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.727ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.5s | 77 errors · 60 warnings · 395 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.179ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724942 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724942 ms (missed cycles : 2).[0m ×2 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 2454.515 us (Expected < 1666.667 us) --> Read time : 161.653 us, Update time : 184.134 us, Write time : 2108.728 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 2454.515 us (Expected < 1666.667 us) --> Read time : 161.653 us, Update time : 184.134 us, Write time : 2108.728 us[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.080ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068517 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068517 ms (missed cycles : 2).[0m ×2 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 1766.273 us (Expected < 1666.667 us) --> Read time : 179.404 us, Update time : 1270.063 us, Write time : 316.806 us + 1.73sWARNros2_control_nodeOverrun might occur, Total time : 1766.273 us (Expected < 1666.667 us) --> Read time : 179.404 us, Update time : 1270.063 us, Write time : 316.806 us[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.705ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444164 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444164 ms (missed cycles : 4).[0m ×2 + 2.43sINFOjoint_trajectory_controllerGoal reached, success! + 2.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781206246.83949280 seconds ×3 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.738ms + 2.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.731ms + 2.85sWARNcontroller_managerOverrun might occur, Total time : 2208.611 us (Expected < 1666.667 us) --> Read time : 190.284 us, Update time : 226.424 us, Write time : 1791.903 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 2208.611 us (Expected < 1666.667 us) --> Read time : 190.284 us, Update time : 226.424 us, Write time : 1791.903 us[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781206247.42425942 seconds. ×3 + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.06sINFOmove_groupClearing octomap...[0m ×2 + 3.06sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.852ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864720 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864720 ms (missed cycles : 2).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.732ms + 3.62sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.390ms + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.156ms + 3.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781206248.16439772 seconds ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.910ms + 4.16sWARNcontroller_managerOverrun might occur, Total time : 1770.322 us (Expected < 1666.667 us) --> Read time : 109.762 us, Update time : 1393.215 us, Write time : 267.345 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 1770.322 us (Expected < 1666.667 us) --> Read time : 109.762 us, Update time : 1393.215 us, Write time : 267.345 us[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.787ms + 4.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781206248.70182920 seconds. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216656 ms (missed cycles : 5). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216656 ms (missed cycles : 5).[0m ×2 + 4.52sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.474ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.040ms + 4.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781206249.14196348 seconds ×3 + 4.91sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.760ms + 5.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.22sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.124ms + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.547ms + 5.51sWARNcontroller_managerOverrun might occur, Total time : 4381.321 us (Expected < 1666.667 us) --> Read time : 158.113 us, Update time : 3865.891 us, Write time : 357.317 us + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747598 ms (missed cycles : 3). + 6.12sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.168ms + 6.19sWARNros2_control_nodeOverrun might occur, Total time : 4381.321 us (Expected < 1666.667 us) --> Read time : 158.113 us, Update time : 3865.891 us, Write time : 357.317 us[0m ×2 + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747598 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.096ms + 6.54sWARNcontroller_managerOverrun might occur, Total time : 3623.586 us (Expected < 1666.667 us) --> Read time : 3130.517 us, Update time : 147.912 us, Write time : 345.157 us + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851741 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun might occur, Total time : 3623.586 us (Expected < 1666.667 us) --> Read time : 3130.517 us, Update time : 147.912 us, Write time : 345.157 us[0m ×2 + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851741 ms (missed cycles : 3).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800765 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800765 ms (missed cycles : 3).[0m ×2 + 8.16sWARNcontroller_managerOverrun might occur, Total time : 2911.684 us (Expected < 1666.667 us) --> Read time : 195.774 us, Update time : 122.902 us, Write time : 2593.008 us + 8.16sWARNros2_control_nodeOverrun might occur, Total time : 2911.684 us (Expected < 1666.667 us) --> Read time : 195.774 us, Update time : 122.902 us, Write time : 2593.008 us[0m ×2 + 8.52sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.091ms + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111389 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111389 ms (missed cycles : 2).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.315ms + 9.48sWARNcontroller_managerOverrun might occur, Total time : 2590.707 us (Expected < 1666.667 us) --> Read time : 151.293 us, Update time : 126.502 us, Write time : 2312.912 us + 9.48sWARNros2_control_nodeOverrun might occur, Total time : 2590.707 us (Expected < 1666.667 us) --> Read time : 151.293 us, Update time : 126.502 us, Write time : 2312.912 us[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179952 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179952 ms (missed cycles : 2).[0m ×2 + 10.52sWARNcontroller_managerOverrun might occur, Total time : 3513.474 us (Expected < 1666.667 us) --> Read time : 127.822 us, Update time : 2902.143 us, Write time : 483.509 us + 10.52sWARNros2_control_nodeOverrun might occur, Total time : 3513.474 us (Expected < 1666.667 us) --> Read time : 127.822 us, Update time : 2902.143 us, Write time : 483.509 us[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059671 ms (missed cycles : 4). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059671 ms (missed cycles : 4).[0m ×2 + 11.19sERRORweb_video_server-30process[web_video_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORtf2_web_republisher_node-29process[tf2_web_republisher_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORweb_bridge-28process[web_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORui_teleop_bridge-27process[ui_teleop_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORexecute_objective_bridge-26process[execute_objective_bridge-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sINFOweb_video_server-30sending signal 'SIGTERM' to process[web_video_server-30] ×2 + 11.25sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sINFOtf2_web_republisher_node-29sending signal 'SIGTERM' to process[tf2_web_republisher_node-29] ×2 + 11.28sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sINFOweb_bridge-28sending signal 'SIGTERM' to process[web_bridge-28] ×2 + 11.34sINFOui_teleop_bridge-27sending signal 'SIGTERM' to process[ui_teleop_bridge-27] ×2 + 11.36sINFOexecute_objective_bridge-26sending signal 'SIGTERM' to process[execute_objective_bridge-26] ×2 + 11.38sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.40sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.41sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.42sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.44sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.46sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.47sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.48sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.50sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.51sINFOweb_video_server-30process has finished cleanly [pid 10510] ×2 + 11.53sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.53sINFOcontroller_managerShutdown request received.... + 11.53sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.53sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.53sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.53sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.53sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.53sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.53sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.53sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.53sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.53sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.53sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.53sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.53sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.53sINFOcontroller_managerShutting down the controller manager. + 11.53sINFOtf2_web_republisher_node-29process has finished cleanly [pid 10509] ×2 + 11.55sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.57sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.57sERRORmove_group-19process has died [pid 10417, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_zl516fjf --params-file /tmp/launch_params_2_iv82n9 --params-file /tmp/launch_params_0fe2ny8e --params-file /tmp/launch_params_7tkwesnb --params-file /tmp/launch_params_wps1b9f1 --params-file /tmp/launch_params_rbp61dxw --params-file /tmp/launch_params_mwmmsko7 --params-file /tmp/launch_params_870megy9 --params-file /tmp/launch_params_b7teccne']. ×2 + 11.59sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.61sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.63sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.65sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.65sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.65sINFOcontroller_serverCleaning up + 11.65sINFOlocal_costmap.local_costmapCleaning up + 11.65sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.65sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.65sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.65sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.65sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.65sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.65sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.65sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.65sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.65sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.65sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.65sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.65sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.65sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.65sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.65sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.66sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.66sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.66sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.66sERRORmove_groupStack trace (most recent call last) in thread 10979: ×2 + 11.66sINFOlaunchprocess[tf2_web_republisher_node-29] was required: shutting down launched system ×2 + 11.66sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.66sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a2f367a63, in __clone ×2 + 11.66sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a2f2daaa3, in ×2 + 11.66sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9a2f56cdb3, in ×2 + 11.66sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7f9a2fbc119a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.66sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9a2f8df4d0, in rclcpp::Rate::sleep() ×2 + 11.66sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9a2f832a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.66sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9a2f7f7a71, in ×2 + 11.66sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9a2f53b390, in __cxa_throw ×2 + 11.66sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9a2f525a54, in std::terminate() ×2 + 11.66sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9a2f53b0d9, in ×2 + 11.66sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9a2f525ff4, in ×2 + 11.66sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a2f2668fe, in abort ×2 + 11.66sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a2f28327d, in raise ×2 + 11.66sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a2f2dcb2c, in pthread_kill ×2 + 11.66sERRORmove_groupAborted (Signal sent by tkill() 10417 0) ×2 + 11.66sINFOobjective_server_node[2026-06-11 19:30:55.887] [moveit_pro_license] [info] ×2 + 11.66sINFOobjective_server_node************************************************* ×4 + 11.66sINFOobjective_server_node* MoveIt Pro License ×2 + 11.66sINFOobjective_server_node* Application has successfully terminated ×2 + 11.66sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.66sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.66sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.66sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.66sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.66sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.66sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.66sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.66sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.66sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.66sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.67sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.67sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.67sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.67sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561947e366a4, in _start ×2 + 11.67sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1fd6faa28a, in __libc_start_main ×2 + 11.67sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1fd6faa1d0, in ×2 + 11.67sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1fd6fc7bbd, in exit ×2 + 11.67sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1fd6fc7a75, in ×2 + 11.67sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f1fd74994a2, in spdlog::details::registry::~registry() ×2 + 11.67sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f1fd74a469d, 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 + 11.67sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f1fd749e965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.67sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561947e3d315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.67sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561947e3c5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.67sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561947e38b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.67sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561947e36d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.67sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1fd7b1c454, in rclcpp::Node::~Node() ×2 + 11.67sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1fd7ad7515, in ×2 + 11.67sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1fd7b1ad20, in ×2 + 11.67sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1fd7b1ac63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.67sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1fd7ad75d9, in ×2 + 11.67sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1fd7adc161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.67sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f1f96fed450]) ×2 + 11.67sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.67sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.67sINFOodom_qos_relay.pymain() ×2 + 11.67sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.67sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.67sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.67sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.67sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.67sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.67sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.67sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.67sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.67sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.67sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.67sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.67sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.67sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.67sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.67sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×4 + 11.68sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.69sERRORobjective_server_node_main-24process has died [pid 10488, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_xeaia9zk --params-file /tmp/launch_params_12r47tz3 --params-file /tmp/launch_params_wexnd02h --params-file /tmp/launch_params_rig73c55 --params-file /tmp/launch_params_8345yexn --params-file /tmp/launch_params_sq15tee6']. ×2 + 11.69sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.69sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.69sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.69sINFOsmoother_serverCleaning up + 11.70sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.70sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.70sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.70sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.70sINFOmap_serverDeactivating + 11.70sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.71sINFOmap_serverCleaning up + 11.71sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.71sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.71sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.71sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.71sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.71sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.73sERRORamclThe bond connection to the lifecycle manager has been broken + 11.74sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.74sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.74sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.74sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.74sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.75sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.75sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.75sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.46sERRORui_teleop_bridge-27process has died [pid 10507, 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_5b49ax7m']. ×2 + 12.46sINFOexecute_objective_bridge-26process has finished cleanly [pid 10505] ×2 + 12.47sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 10486] ×2 + 12.49sINFOmove_joint_resampler_node-22process has finished cleanly [pid 10422] ×2 + 12.54sINFOparameter_manager_node-20process has finished cleanly [pid 10419] ×2 + 12.57sINFOwaypoint_manager_node-21process has finished cleanly [pid 10421] ×2 + 12.59sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10327] ×2 + 12.61sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 10326] ×2 + 12.64sINFOstatic_transform_publisher-3process has finished cleanly [pid 10324] ×2 + 12.67sINFOstatic_transform_publisher-2process has finished cleanly [pid 10323] ×2 + 12.68sINFOcomponent_container_mt-25process has finished cleanly [pid 10504] ×2 + 12.68sERRORodom_qos_relay.py-4process has died [pid 10325, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 14.07sINFOweb_bridge-28process has finished cleanly [pid 10508] ×2 + 14.07sINFOlaunchprocess[web_bridge-28] was required: shutting down launched system ×2 + 14.34sINFOros2_control_node-7process has finished cleanly [pid 10328] ×2 + 16.19sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 16.21sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 16.22sERRORcomponent_container_isolated-1process has died [pid 10322, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_b6kgz_oz --params-file /tmp/launch_params_g2qs3r5v -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.8s | 101 warnings · 152 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738510 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738510 ms (missed cycles : 3).[0m ×2 + 0.08sWARNcontroller_managerOverrun might occur, Total time : 2360.883 us (Expected < 1666.667 us) --> Read time : 154.193 us, Update time : 1779.083 us, Write time : 427.607 us + 0.08sWARNros2_control_nodeOverrun might occur, Total time : 2360.883 us (Expected < 1666.667 us) --> Read time : 154.193 us, Update time : 1779.083 us, Write time : 427.607 us[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.979ms + 0.73sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.340ms + 0.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.424ms + 0.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.667ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978809 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978809 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 5049.543 us (Expected < 1666.667 us) --> Read time : 144.502 us, Update time : 4484.203 us, Write time : 420.838 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 5049.543 us (Expected < 1666.667 us) --> Read time : 144.502 us, Update time : 4484.203 us, Write time : 420.838 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690495 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690495 ms (missed cycles : 5).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 1723.222 us (Expected < 1666.667 us) --> Read time : 155.893 us, Update time : 208.624 us, Write time : 1358.705 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 1723.222 us (Expected < 1666.667 us) --> Read time : 155.893 us, Update time : 208.624 us, Write time : 1358.705 us[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.100ms + 2.52sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.248ms + 2.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.364ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781206234.01548076 seconds ×3 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280586 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280586 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.325ms + 3.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.122ms + 3.48sWARNcontroller_managerOverrun might occur, Total time : 3620.046 us (Expected < 1666.667 us) --> Read time : 148.493 us, Update time : 3050.026 us, Write time : 421.527 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 3620.046 us (Expected < 1666.667 us) --> Read time : 148.493 us, Update time : 3050.026 us, Write time : 421.527 us[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.389ms + 3.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781206234.56751490 seconds. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.245ms + 4.05sINFOobjective_server_nodeFound path in 0 iterations (8.3e-07 s). ×2 + 4.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.338ms + 4.08sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516884 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516884 ms (missed cycles : 2).[0m ×2 + 4.68sWARNcontroller_managerOverrun might occur, Total time : 2380.634 us (Expected < 1666.667 us) --> Read time : 1862.874 us, Update time : 169.934 us, Write time : 347.826 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 2380.634 us (Expected < 1666.667 us) --> Read time : 1862.874 us, Update time : 169.934 us, Write time : 347.826 us[0m ×2 + 4.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.998ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755420 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755420 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.444ms + 5.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.119ms + 5.88sWARNcontroller_managerOverrun might occur, Total time : 2508.485 us (Expected < 1666.667 us) --> Read time : 133.292 us, Update time : 2018.207 us, Write time : 356.986 us + 5.88sWARNros2_control_nodeOverrun might occur, Total time : 2508.485 us (Expected < 1666.667 us) --> Read time : 133.292 us, Update time : 2018.207 us, Write time : 356.986 us[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277168 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277168 ms (missed cycles : 4).[0m ×2 + 6.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.918ms + 6.93sWARNcontroller_managerOverrun might occur, Total time : 4887.820 us (Expected < 1666.667 us) --> Read time : 108.992 us, Update time : 132.683 us, Write time : 4646.145 us + 6.93sWARNros2_control_nodeOverrun might occur, Total time : 4887.820 us (Expected < 1666.667 us) --> Read time : 108.992 us, Update time : 132.683 us, Write time : 4646.145 us[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340071 ms (missed cycles : 4). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340071 ms (missed cycles : 4).[0m ×2 + 7.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.149ms + 7.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.469ms + 8.02sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.171ms + 8.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.176ms + 8.26sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836885 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836885 ms (missed cycles : 3).[0m ×2 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.41sWARNcontroller_managerOverrun might occur, Total time : 2684.829 us (Expected < 1666.667 us) --> Read time : 164.563 us, Update time : 223.164 us, Write time : 2297.102 us + 8.41sWARNros2_control_nodeOverrun might occur, Total time : 2684.829 us (Expected < 1666.667 us) --> Read time : 164.563 us, Update time : 223.164 us, Write time : 2297.102 us[0m ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (1.57e-06 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×4 + 8.90sINFOobjective_server_nodeFound path in 69 iterations (0.0511388 s). ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.14sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742485 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742485 ms (missed cycles : 3).[0m ×2 + 9.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.94sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.18sWARNcontroller_managerOverrun might occur, Total time : 2180.170 us (Expected < 1666.667 us) --> Read time : 191.744 us, Update time : 257.885 us, Write time : 1730.541 us + 10.18sWARNros2_control_nodeOverrun might occur, Total time : 2180.170 us (Expected < 1666.667 us) --> Read time : 191.744 us, Update time : 257.885 us, Write time : 1730.541 us[0m ×2 + 10.43sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.026ms + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332627 ms (missed cycles : 3). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332627 ms (missed cycles : 3).[0m ×2 + 10.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.127ms + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097513 ms (missed cycles : 4). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097513 ms (missed cycles : 4).[0m ×2 + 11.59sWARNcontroller_managerOverrun might occur, Total time : 2799.152 us (Expected < 1666.667 us) --> Read time : 146.603 us, Update time : 2216.311 us, Write time : 436.238 us + 11.59sWARNros2_control_nodeOverrun might occur, Total time : 2799.152 us (Expected < 1666.667 us) --> Read time : 146.603 us, Update time : 2216.311 us, Write time : 436.238 us[0m ×2 + 11.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.803ms + 12.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.842ms + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750673 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750673 ms (missed cycles : 2).[0m ×2 + 12.84sWARNcontroller_managerOverrun might occur, Total time : 3018.616 us (Expected < 1666.667 us) --> Read time : 148.053 us, Update time : 2468.015 us, Write time : 402.548 us + 12.84sWARNros2_control_nodeOverrun might occur, Total time : 3018.616 us (Expected < 1666.667 us) --> Read time : 148.053 us, Update time : 2468.015 us, Write time : 402.548 us[0m ×2 + 12.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.785ms + 13.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.179ms + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724942 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724942 ms (missed cycles : 2).[0m ×2 + 14.07sWARNcontroller_managerOverrun might occur, Total time : 2454.515 us (Expected < 1666.667 us) --> Read time : 161.653 us, Update time : 184.134 us, Write time : 2108.728 us + 14.07sWARNros2_control_nodeOverrun might occur, Total time : 2454.515 us (Expected < 1666.667 us) --> Read time : 161.653 us, Update time : 184.134 us, Write time : 2108.728 us[0m ×2 + 14.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.080ms + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068517 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068517 ms (missed cycles : 2).[0m ×2 + 15.21sWARNcontroller_managerOverrun might occur, Total time : 1766.273 us (Expected < 1666.667 us) --> Read time : 179.404 us, Update time : 1270.063 us, Write time : 316.806 us + 15.21sWARNros2_control_nodeOverrun might occur, Total time : 1766.273 us (Expected < 1666.667 us) --> Read time : 179.404 us, Update time : 1270.063 us, Write time : 316.806 us[0m ×2 + 15.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.705ms + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444164 ms (missed cycles : 4). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444164 ms (missed cycles : 4).[0m ×2 + 15.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781206246.83949280 seconds ×3 + 15.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.738ms + 16.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.731ms + 16.33sWARNcontroller_managerOverrun might occur, Total time : 2208.611 us (Expected < 1666.667 us) --> Read time : 190.284 us, Update time : 226.424 us, Write time : 1791.903 us + 16.33sWARNros2_control_nodeOverrun might occur, Total time : 2208.611 us (Expected < 1666.667 us) --> Read time : 190.284 us, Update time : 226.424 us, Write time : 1791.903 us[0m ×2 + 16.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781206247.42425942 seconds. ×3 + 16.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.54sINFOmove_groupClearing octomap...[0m ×2 + 16.54sINFOmove_groupOctomap cleared.[0m ×2 + 16.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.852ms + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864720 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864720 ms (missed cycles : 2).[0m ×2 + 16.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.732ms + 17.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.390ms + 17.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.156ms + 17.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781206248.16439772 seconds ×3 + 17.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.910ms + 17.63sWARNcontroller_managerOverrun might occur, Total time : 1770.322 us (Expected < 1666.667 us) --> Read time : 109.762 us, Update time : 1393.215 us, Write time : 267.345 us + 17.64sWARNros2_control_nodeOverrun might occur, Total time : 1770.322 us (Expected < 1666.667 us) --> Read time : 109.762 us, Update time : 1393.215 us, Write time : 267.345 us[0m ×2 + 17.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.787ms + 17.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781206248.70182920 seconds. ×3 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216656 ms (missed cycles : 5). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216656 ms (missed cycles : 5).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.474ms + 18.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.040ms + 18.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781206249.14196348 seconds ×3 + 18.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.760ms + 18.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.124ms + 18.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.547ms + 18.99sWARNcontroller_managerOverrun might occur, Total time : 4381.321 us (Expected < 1666.667 us) --> Read time : 158.113 us, Update time : 3865.891 us, Write time : 357.317 us + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747598 ms (missed cycles : 3). | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 96 warnings · 110 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.018ms + 0.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.068ms + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732366 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732366 ms (missed cycles : 2).[0m ×2 + 0.62sWARNcontroller_managerOverrun might occur, Total time : 1978.439 us (Expected < 1666.667 us) --> Read time : 141.093 us, Update time : 1525.200 us, Write time : 312.146 us + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 1978.439 us (Expected < 1666.667 us) --> Read time : 141.093 us, Update time : 1525.200 us, Write time : 312.146 us[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.820ms + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255527 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255527 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.626ms + 1.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.796ms + 2.05sWARNcontroller_managerOverrun might occur, Total time : 1856.616 us (Expected < 1666.667 us) --> Read time : 706.394 us, Update time : 143.523 us, Write time : 1006.699 us + 2.06sWARNros2_control_nodeOverrun might occur, Total time : 1856.616 us (Expected < 1666.667 us) --> Read time : 706.394 us, Update time : 143.523 us, Write time : 1006.699 us[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.297318 ms (missed cycles : 6). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.297318 ms (missed cycles : 6).[0m ×2 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 5051.418 us (Expected < 1666.667 us) --> Read time : 136.042 us, Update time : 4493.638 us, Write time : 421.738 us + 3.11sWARNros2_control_nodeOverrun might occur, Total time : 5051.418 us (Expected < 1666.667 us) --> Read time : 136.042 us, Update time : 4493.638 us, Write time : 421.738 us[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.891ms + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754663 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754663 ms (missed cycles : 2).[0m ×2 + 3.69sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781206095.34245276 seconds ×3 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.790ms + 3.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.368ms + 4.12sWARNcontroller_managerOverrun might occur, Total time : 1787.214 us (Expected < 1666.667 us) --> Read time : 199.174 us, Update time : 1267.644 us, Write time : 320.396 us + 4.12sWARNros2_control_nodeOverrun might occur, Total time : 1787.214 us (Expected < 1666.667 us) --> Read time : 199.174 us, Update time : 1267.644 us, Write time : 320.396 us[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.854ms ×3 + 4.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.002ms + 4.28sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781206095.88795733 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.919ms + 4.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.962ms + 4.66sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838595 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838595 ms (missed cycles : 2).[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.336ms + 5.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.267ms + 5.21sWARNcontroller_managerOverrun might occur, Total time : 3058.028 us (Expected < 1666.667 us) --> Read time : 135.232 us, Update time : 2529.469 us, Write time : 393.327 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 3058.028 us (Expected < 1666.667 us) --> Read time : 135.232 us, Update time : 2529.469 us, Write time : 393.327 us[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.319ms + 5.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.968ms + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828245 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828245 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.978ms + 6.42sWARNcontroller_managerOverrun might occur, Total time : 2420.197 us (Expected < 1666.667 us) --> Read time : 145.863 us, Update time : 1929.577 us, Write time : 344.757 us + 6.42sWARNros2_control_nodeOverrun might occur, Total time : 2420.197 us (Expected < 1666.667 us) --> Read time : 145.863 us, Update time : 1929.577 us, Write time : 344.757 us[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.828ms + 6.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.024ms + 6.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.990ms + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008390 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008390 ms (missed cycles : 2).[0m ×2 + 7.88sWARNcontroller_managerOverrun might occur, Total time : 1903.687 us (Expected < 1666.667 us) --> Read time : 711.754 us, Update time : 119.203 us, Write time : 1072.730 us + 7.88sWARNros2_control_nodeOverrun might occur, Total time : 1903.687 us (Expected < 1666.667 us) --> Read time : 711.754 us, Update time : 119.203 us, Write time : 1072.730 us[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083873 ms (missed cycles : 5). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083873 ms (missed cycles : 5).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.846ms + 8.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.325ms + 8.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.163ms + 8.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.844ms + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699342 ms (missed cycles : 6). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699342 ms (missed cycles : 6).[0m ×2 + 9.23sWARNcontroller_managerOverrun might occur, Total time : 4258.052 us (Expected < 1666.667 us) --> Read time : 125.112 us, Update time : 3749.453 us, Write time : 383.487 us + 9.23sWARNros2_control_nodeOverrun might occur, Total time : 4258.052 us (Expected < 1666.667 us) --> Read time : 125.112 us, Update time : 3749.453 us, Write time : 383.487 us[0m ×2 + 9.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.850ms + 9.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.714ms + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.254388 ms (missed cycles : 5). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.254388 ms (missed cycles : 5).[0m ×2 + 10.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.619ms + 10.39sWARNcontroller_managerOverrun might occur, Total time : 2049.980 us (Expected < 1666.667 us) --> Read time : 144.233 us, Update time : 1513.829 us, Write time : 391.918 us + 10.39sWARNros2_control_nodeOverrun might occur, Total time : 2049.980 us (Expected < 1666.667 us) --> Read time : 144.233 us, Update time : 1513.829 us, Write time : 391.918 us[0m ×2 + 10.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.722ms + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758574 ms (missed cycles : 2). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758574 ms (missed cycles : 2).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.787ms + 11.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.742ms + 11.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.822ms + 11.46sWARNcontroller_managerOverrun might occur, Total time : 1813.835 us (Expected < 1666.667 us) --> Read time : 161.353 us, Update time : 1004.430 us, Write time : 648.052 us + 11.46sWARNros2_control_nodeOverrun might occur, Total time : 1813.835 us (Expected < 1666.667 us) --> Read time : 161.353 us, Update time : 1004.430 us, Write time : 648.052 us[0m ×2 + 11.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.148ms + 11.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.785ms + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563261 ms (missed cycles : 3). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563261 ms (missed cycles : 3).[0m ×2 + 12.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.983ms + 12.52sWARNcontroller_managerOverrun might occur, Total time : 2066.070 us (Expected < 1666.667 us) --> Read time : 175.654 us, Update time : 1568.330 us, Write time : 322.086 us + 12.52sWARNros2_control_nodeOverrun might occur, Total time : 2066.070 us (Expected < 1666.667 us) --> Read time : 175.654 us, Update time : 1568.330 us, Write time : 322.086 us[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.439ms + 13.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.011ms + 13.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.885ms + 13.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.892ms + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427494 ms (missed cycles : 3). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427494 ms (missed cycles : 3).[0m ×2 + 13.56sWARNcontroller_managerOverrun might occur, Total time : 4708.171 us (Expected < 1666.667 us) --> Read time : 249.445 us, Update time : 4133.570 us, Write time : 325.156 us + 13.56sWARNros2_control_nodeOverrun might occur, Total time : 4708.171 us (Expected < 1666.667 us) --> Read time : 249.445 us, Update time : 4133.570 us, Write time : 325.156 us[0m ×2 + 13.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.953ms + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870662 ms (missed cycles : 4). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870662 ms (missed cycles : 4).[0m ×2 + 14.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.838ms + 14.61sWARNcontroller_managerOverrun might occur, Total time : 1885.686 us (Expected < 1666.667 us) --> Read time : 155.583 us, Update time : 978.649 us, Write time : 751.454 us + 14.62sWARNros2_control_nodeOverrun might occur, Total time : 1885.686 us (Expected < 1666.667 us) --> Read time : 155.583 us, Update time : 978.649 us, Write time : 751.454 us[0m ×2 + 14.65sINFOjoint_trajectory_controllerGot request to cancel goal + 14.65sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.65sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.65sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781206106.26966190 seconds ×3 + 14.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.724ms + 15.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.632ms + 15.20sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781206106.80713177 seconds. ×3 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399605 ms (missed cycles : 7). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399605 ms (missed cycles : 7).[0m ×2 + 15.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.203ms + 15.51sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.209ms + 15.54sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 15.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.011ms + 15.89sWARNcontroller_managerOverrun might occur, Total time : 3382.165 us (Expected < 1666.667 us) --> Read time : 154.453 us, Update time : 78.531 us, Write time : 3149.181 us + 15.89sWARNros2_control_nodeOverrun might occur, Total time : 3382.165 us (Expected < 1666.667 us) --> Read time : 154.453 us, Update time : 78.531 us, Write time : 3149.181 us[0m ×2 + 16.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.165ms + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239699 ms (missed cycles : 4). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239699 ms (missed cycles : 4).[0m ×2 + 16.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.917ms + 16.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.582ms + 16.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.610ms + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826572 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826572 ms (missed cycles : 2).[0m ×2 + 17.41sWARNcontroller_managerOverrun might occur, Total time : 3677.781 us (Expected < 1666.667 us) --> Read time : 131.562 us, Update time : 3138.101 us, Write time : 408.118 us + 17.41sWARNros2_control_nodeOverrun might occur, Total time : 3677.781 us (Expected < 1666.667 us) --> Read time : 131.562 us, Update time : 3138.101 us, Write time : 408.118 us[0m ×2 + 17.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.620ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 63 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4).[0m ×2 + 0.71sWARNcontroller_managerOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.789ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2).[0m ×2 + 2.86sWARNcontroller_managerOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us + 2.86sWARNros2_control_nodeOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.11sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781206004.94413424 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3).[0m ×2 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.138ms + 3.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.456ms + 3.71sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781206005.49616551 seconds. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.835ms + 3.90sWARNcontroller_managerOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us[0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2).[0m ×2 + 5.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.934ms + 5.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.462ms + 6.23sWARNcontroller_managerOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us + 6.23sWARNros2_control_nodeOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580813 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580813 ms (missed cycles : 3).[0m ×2 + 6.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.319ms + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710207 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710207 ms (missed cycles : 4).[0m ×2 + 7.71sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781206009.49632621 seconds ×3 + 7.78sWARNcontroller_managerOverrun might occur, Total time : 4140.536 us (Expected < 1666.667 us) --> Read time : 137.193 us, Update time : 3680.337 us, Write time : 323.006 us + 7.78sWARNros2_control_nodeOverrun might occur, Total time : 4140.536 us (Expected < 1666.667 us) --> Read time : 137.193 us, Update time : 3680.337 us, Write time : 323.006 us[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816404 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816404 ms (missed cycles : 3).[0m ×2 + 9.02sWARNcontroller_managerOverrun might occur, Total time : 2154.539 us (Expected < 1666.667 us) --> Read time : 148.043 us, Update time : 137.152 us, Write time : 1869.344 us + 9.02sWARNros2_control_nodeOverrun might occur, Total time : 2154.539 us (Expected < 1666.667 us) --> Read time : 148.043 us, Update time : 137.152 us, Write time : 1869.344 us[0m ×2 + 9.26sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781206011.04340363 seconds. ×3 + 9.62sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.749980 ms (missed cycles : 6). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.749980 ms (missed cycles : 6).[0m ×2 + 9.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.458ms + 9.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.920ms + 10.14sWARNcontroller_managerOverrun might occur, Total time : 3162.318 us (Expected < 1666.667 us) --> Read time : 2679.499 us, Update time : 154.933 us, Write time : 327.886 us + 10.15sWARNros2_control_nodeOverrun might occur, Total time : 3162.318 us (Expected < 1666.667 us) --> Read time : 2679.499 us, Update time : 154.933 us, Write time : 327.886 us[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317177 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317177 ms (missed cycles : 2).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.361ms + 10.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.452ms + 11.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.677ms + 11.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.689ms + 11.57sWARNcontroller_managerOverrun might occur, Total time : 2108.148 us (Expected < 1666.667 us) --> Read time : 135.082 us, Update time : 114.912 us, Write time : 1858.154 us + 11.57sWARNros2_control_nodeOverrun might occur, Total time : 2108.148 us (Expected < 1666.667 us) --> Read time : 135.082 us, Update time : 114.912 us, Write time : 1858.154 us[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986952 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986952 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 54 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838970 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838970 ms (missed cycles : 2).[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 5269.814 us (Expected < 1666.667 us) --> Read time : 148.703 us, Update time : 312.605 us, Write time : 4808.506 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 5269.814 us (Expected < 1666.667 us) --> Read time : 148.703 us, Update time : 312.605 us, Write time : 4808.506 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418345 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418345 ms (missed cycles : 4).[0m ×2 + 1.95sWARNcontroller_managerOverrun might occur, Total time : 2504.030 us (Expected < 1666.667 us) --> Read time : 219.664 us, Update time : 1940.100 us, Write time : 344.266 us + 1.95sWARNros2_control_nodeOverrun might occur, Total time : 2504.030 us (Expected < 1666.667 us) --> Read time : 219.664 us, Update time : 1940.100 us, Write time : 344.266 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306366 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306366 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116543 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116543 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781205944.22842431 seconds ×3 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sWARNcontroller_managerOverrun might occur, Total time : 1911.050 us (Expected < 1666.667 us) --> Read time : 179.233 us, Update time : 1368.391 us, Write time : 363.426 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 1911.050 us (Expected < 1666.667 us) --> Read time : 179.233 us, Update time : 1368.391 us, Write time : 363.426 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781205944.77340364 seconds. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657262 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657262 ms (missed cycles : 4).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.979e-05 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.68sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 3052.478 us (Expected < 1666.667 us) --> Read time : 137.552 us, Update time : 2152.034 us, Write time : 762.892 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 3052.478 us (Expected < 1666.667 us) --> Read time : 137.552 us, Update time : 2152.034 us, Write time : 762.892 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509773 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509773 ms (missed cycles : 4).[0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 3448.934 us (Expected < 1666.667 us) --> Read time : 167.722 us, Update time : 2932.447 us, Write time : 348.765 us + 6.14sWARNros2_control_nodeOverrun might occur, Total time : 3448.934 us (Expected < 1666.667 us) --> Read time : 167.722 us, Update time : 2932.447 us, Write time : 348.765 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216058 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216058 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781205947.87356091 seconds ×3 + 7.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781205948.41398001 seconds. ×3 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749194 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749194 ms (missed cycles : 3).[0m ×2 + 7.36sWARNcontroller_managerOverrun might occur, Total time : 3109.369 us (Expected < 1666.667 us) --> Read time : 143.122 us, Update time : 2653.822 us, Write time : 312.425 us + 7.36sWARNros2_control_nodeOverrun might occur, Total time : 3109.369 us (Expected < 1666.667 us) --> Read time : 143.122 us, Update time : 2653.822 us, Write time : 312.425 us[0m ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250755 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250755 ms (missed cycles : 2).[0m ×2 + 8.38sWARNcontroller_managerOverrun might occur, Total time : 3039.458 us (Expected < 1666.667 us) --> Read time : 178.633 us, Update time : 2395.218 us, Write time : 465.607 us + 8.38sWARNros2_control_nodeOverrun might occur, Total time : 3039.458 us (Expected < 1666.667 us) --> Read time : 178.633 us, Update time : 2395.218 us, Write time : 465.607 us[0m ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850122 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850122 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun might occur, Total time : 1902.834 us (Expected < 1666.667 us) --> Read time : 1335.144 us, Update time : 155.432 us, Write time : 412.258 us + 9.45sWARNros2_control_nodeOverrun might occur, Total time : 1902.834 us (Expected < 1666.667 us) --> Read time : 1335.144 us, Update time : 155.432 us, Write time : 412.258 us[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 45 warnings · 52 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.842ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750673 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750673 ms (missed cycles : 2).[0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 3018.616 us (Expected < 1666.667 us) --> Read time : 148.053 us, Update time : 2468.015 us, Write time : 402.548 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 3018.616 us (Expected < 1666.667 us) --> Read time : 148.053 us, Update time : 2468.015 us, Write time : 402.548 us[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.785ms + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.179ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724942 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724942 ms (missed cycles : 2).[0m ×2 + 1.69sWARNcontroller_managerOverrun might occur, Total time : 2454.515 us (Expected < 1666.667 us) --> Read time : 161.653 us, Update time : 184.134 us, Write time : 2108.728 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 2454.515 us (Expected < 1666.667 us) --> Read time : 161.653 us, Update time : 184.134 us, Write time : 2108.728 us[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.080ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068517 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068517 ms (missed cycles : 2).[0m ×2 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 1766.273 us (Expected < 1666.667 us) --> Read time : 179.404 us, Update time : 1270.063 us, Write time : 316.806 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1766.273 us (Expected < 1666.667 us) --> Read time : 179.404 us, Update time : 1270.063 us, Write time : 316.806 us[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.705ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444164 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444164 ms (missed cycles : 4).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781206246.83949280 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.738ms + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.731ms + 3.95sWARNcontroller_managerOverrun might occur, Total time : 2208.611 us (Expected < 1666.667 us) --> Read time : 190.284 us, Update time : 226.424 us, Write time : 1791.903 us + 3.95sWARNros2_control_nodeOverrun might occur, Total time : 2208.611 us (Expected < 1666.667 us) --> Read time : 190.284 us, Update time : 226.424 us, Write time : 1791.903 us[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781206247.42425942 seconds. ×3 + 4.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.16sINFOmove_groupClearing octomap...[0m ×2 + 4.16sINFOmove_groupOctomap cleared.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.852ms + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864720 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864720 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.732ms + 4.72sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.390ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.156ms + 4.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781206248.16439772 seconds ×3 + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.910ms + 5.26sWARNcontroller_managerOverrun might occur, Total time : 1770.322 us (Expected < 1666.667 us) --> Read time : 109.762 us, Update time : 1393.215 us, Write time : 267.345 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 1770.322 us (Expected < 1666.667 us) --> Read time : 109.762 us, Update time : 1393.215 us, Write time : 267.345 us[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.787ms + 5.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781206248.70182920 seconds. ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216656 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216656 ms (missed cycles : 5).[0m ×2 + 5.62sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.474ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.040ms + 5.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781206249.14196348 seconds ×3 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.760ms + 6.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.32sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.124ms + 6.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.547ms + 6.61sWARNcontroller_managerOverrun might occur, Total time : 4381.321 us (Expected < 1666.667 us) --> Read time : 158.113 us, Update time : 3865.891 us, Write time : 357.317 us + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747598 ms (missed cycles : 3). + 7.22sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.168ms + 7.29sWARNros2_control_nodeOverrun might occur, Total time : 4381.321 us (Expected < 1666.667 us) --> Read time : 158.113 us, Update time : 3865.891 us, Write time : 357.317 us[0m ×2 + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747598 ms (missed cycles : 3).[0m ×2 + 7.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.096ms + 7.64sWARNcontroller_managerOverrun might occur, Total time : 3623.586 us (Expected < 1666.667 us) --> Read time : 3130.517 us, Update time : 147.912 us, Write time : 345.157 us + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851741 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun might occur, Total time : 3623.586 us (Expected < 1666.667 us) --> Read time : 3130.517 us, Update time : 147.912 us, Write time : 345.157 us[0m ×2 + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851741 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 48 warnings · 707 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.08sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.10sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.12sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.44sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.44sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.44sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.44sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.44sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.47sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process has finished cleanly [pid 10400] ×2 + 0.52sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.52sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.52sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.53sWARNcontroller_managerOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us + 0.53sWARNros2_control_nodeOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us[0m ×2 + 0.53sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3).[0m ×2 + 0.87sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process has finished cleanly [pid 10403] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.14sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.14sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.18sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 1.19sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 1.19sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 1.21sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 1.53sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 1.96sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.23sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.23sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.23sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.23sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.23sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.26sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 2.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.27sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.28sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 2.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.68sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.68sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 2.75sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.76sINFOforce_torque_sensor_broadcasterconfigure successful + 2.76sINFOros2_control_nodeconfigure successful[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.78sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 3.98sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 3.98sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 5.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 33 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4).[0m ×2 + 0.71sWARNcontroller_managerOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.789ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2).[0m ×2 + 2.86sWARNcontroller_managerOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us + 2.86sWARNros2_control_nodeOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781206004.94413424 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3).[0m ×2 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.138ms + 3.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.456ms + 3.71sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781206005.49616551 seconds. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.835ms + 3.90sWARNcontroller_managerOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us[0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2).[0m ×2 + 5.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.934ms + 5.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.462ms + 6.23sWARNcontroller_managerOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us + 6.23sWARNros2_control_nodeOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 33 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4).[0m ×2 + 0.71sWARNcontroller_managerOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.789ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2).[0m ×2 + 2.86sWARNcontroller_managerOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us + 2.86sWARNros2_control_nodeOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781206004.94413424 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3).[0m ×2 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.138ms + 3.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.456ms + 3.71sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781206005.49616551 seconds. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.835ms + 3.90sWARNcontroller_managerOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us[0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2).[0m ×2 + 5.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.934ms + 5.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.462ms + 6.23sWARNcontroller_managerOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us + 6.23sWARNros2_control_nodeOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838970 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838970 ms (missed cycles : 2).[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 5269.814 us (Expected < 1666.667 us) --> Read time : 148.703 us, Update time : 312.605 us, Write time : 4808.506 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 5269.814 us (Expected < 1666.667 us) --> Read time : 148.703 us, Update time : 312.605 us, Write time : 4808.506 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418345 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418345 ms (missed cycles : 4).[0m ×2 + 1.95sWARNcontroller_managerOverrun might occur, Total time : 2504.030 us (Expected < 1666.667 us) --> Read time : 219.664 us, Update time : 1940.100 us, Write time : 344.266 us + 1.95sWARNros2_control_nodeOverrun might occur, Total time : 2504.030 us (Expected < 1666.667 us) --> Read time : 219.664 us, Update time : 1940.100 us, Write time : 344.266 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306366 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306366 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116543 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116543 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781205944.22842431 seconds ×3 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sWARNcontroller_managerOverrun might occur, Total time : 1911.050 us (Expected < 1666.667 us) --> Read time : 179.233 us, Update time : 1368.391 us, Write time : 363.426 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 1911.050 us (Expected < 1666.667 us) --> Read time : 179.233 us, Update time : 1368.391 us, Write time : 363.426 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781205944.77340364 seconds. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657262 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657262 ms (missed cycles : 4).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.979e-05 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOjoint_trajectory_controllerReceived new action goal + 4.68sINFOjoint_trajectory_controllerAccepted new action goal + 4.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 3052.478 us (Expected < 1666.667 us) --> Read time : 137.552 us, Update time : 2152.034 us, Write time : 762.892 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 3052.478 us (Expected < 1666.667 us) --> Read time : 137.552 us, Update time : 2152.034 us, Write time : 762.892 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509773 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509773 ms (missed cycles : 4).[0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 3448.934 us (Expected < 1666.667 us) --> Read time : 167.722 us, Update time : 2932.447 us, Write time : 348.765 us + 6.14sWARNros2_control_nodeOverrun might occur, Total time : 3448.934 us (Expected < 1666.667 us) --> Read time : 167.722 us, Update time : 2932.447 us, Write time : 348.765 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216058 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216058 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838970 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838970 ms (missed cycles : 2).[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 5269.814 us (Expected < 1666.667 us) --> Read time : 148.703 us, Update time : 312.605 us, Write time : 4808.506 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 5269.814 us (Expected < 1666.667 us) --> Read time : 148.703 us, Update time : 312.605 us, Write time : 4808.506 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418345 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418345 ms (missed cycles : 4).[0m ×2 + 1.95sWARNcontroller_managerOverrun might occur, Total time : 2504.030 us (Expected < 1666.667 us) --> Read time : 219.664 us, Update time : 1940.100 us, Write time : 344.266 us + 1.95sWARNros2_control_nodeOverrun might occur, Total time : 2504.030 us (Expected < 1666.667 us) --> Read time : 219.664 us, Update time : 1940.100 us, Write time : 344.266 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306366 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306366 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116543 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116543 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781205944.22842431 seconds ×3 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sWARNcontroller_managerOverrun might occur, Total time : 1911.050 us (Expected < 1666.667 us) --> Read time : 179.233 us, Update time : 1368.391 us, Write time : 363.426 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 1911.050 us (Expected < 1666.667 us) --> Read time : 179.233 us, Update time : 1368.391 us, Write time : 363.426 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781205944.77340364 seconds. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657262 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657262 ms (missed cycles : 4).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.979e-05 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOjoint_trajectory_controllerReceived new action goal + 4.68sINFOjoint_trajectory_controllerAccepted new action goal + 4.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 3052.478 us (Expected < 1666.667 us) --> Read time : 137.552 us, Update time : 2152.034 us, Write time : 762.892 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 3052.478 us (Expected < 1666.667 us) --> Read time : 137.552 us, Update time : 2152.034 us, Write time : 762.892 us[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509773 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509773 ms (missed cycles : 4).[0m ×2 + 6.13sWARNcontroller_managerOverrun might occur, Total time : 3448.934 us (Expected < 1666.667 us) --> Read time : 167.722 us, Update time : 2932.447 us, Write time : 348.765 us + 6.14sWARNros2_control_nodeOverrun might occur, Total time : 3448.934 us (Expected < 1666.667 us) --> Read time : 167.722 us, Update time : 2932.447 us, Write time : 348.765 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216058 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216058 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 39 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116543 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116543 ms (missed cycles : 2).[0m ×2 + 0.03sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781205944.22842431 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 1911.050 us (Expected < 1666.667 us) --> Read time : 179.233 us, Update time : 1368.391 us, Write time : 363.426 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 1911.050 us (Expected < 1666.667 us) --> Read time : 179.233 us, Update time : 1368.391 us, Write time : 363.426 us[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781205944.77340364 seconds. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657262 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657262 ms (missed cycles : 4).[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.979e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 3052.478 us (Expected < 1666.667 us) --> Read time : 137.552 us, Update time : 2152.034 us, Write time : 762.892 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 3052.478 us (Expected < 1666.667 us) --> Read time : 137.552 us, Update time : 2152.034 us, Write time : 762.892 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509773 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509773 ms (missed cycles : 4).[0m ×2 + 3.03sWARNcontroller_managerOverrun might occur, Total time : 3448.934 us (Expected < 1666.667 us) --> Read time : 167.722 us, Update time : 2932.447 us, Write time : 348.765 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 3448.934 us (Expected < 1666.667 us) --> Read time : 167.722 us, Update time : 2932.447 us, Write time : 348.765 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216058 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216058 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781205947.87356091 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781205948.41398001 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749194 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749194 ms (missed cycles : 3).[0m ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 3109.369 us (Expected < 1666.667 us) --> Read time : 143.122 us, Update time : 2653.822 us, Write time : 312.425 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 3109.369 us (Expected < 1666.667 us) --> Read time : 143.122 us, Update time : 2653.822 us, Write time : 312.425 us[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250755 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250755 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun might occur, Total time : 3039.458 us (Expected < 1666.667 us) --> Read time : 178.633 us, Update time : 2395.218 us, Write time : 465.607 us + 5.28sWARNros2_control_nodeOverrun might occur, Total time : 3039.458 us (Expected < 1666.667 us) --> Read time : 178.633 us, Update time : 2395.218 us, Write time : 465.607 us[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850122 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850122 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun might occur, Total time : 1902.834 us (Expected < 1666.667 us) --> Read time : 1335.144 us, Update time : 155.432 us, Write time : 412.258 us + 6.35sWARNros2_control_nodeOverrun might occur, Total time : 1902.834 us (Expected < 1666.667 us) --> Read time : 1335.144 us, Update time : 155.432 us, Write time : 412.258 us[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 33 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4).[0m ×2 + 0.71sWARNcontroller_managerOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.789ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2).[0m ×2 + 2.86sWARNcontroller_managerOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us + 2.86sWARNros2_control_nodeOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781206004.94413424 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3).[0m ×2 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.138ms + 3.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.456ms + 3.71sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781206005.49616551 seconds. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.835ms + 3.90sWARNcontroller_managerOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us[0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2).[0m ×2 + 5.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.934ms + 5.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.462ms + 6.23sWARNcontroller_managerOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us + 6.23sWARNros2_control_nodeOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 33 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4).[0m ×2 + 0.71sWARNcontroller_managerOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.789ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2).[0m ×2 + 2.86sWARNcontroller_managerOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us + 2.86sWARNros2_control_nodeOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781206004.94413424 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3).[0m ×2 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.138ms + 3.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.456ms + 3.71sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781206005.49616551 seconds. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.835ms + 3.90sWARNcontroller_managerOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us[0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2).[0m ×2 + 5.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.934ms + 5.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.462ms + 6.23sWARNcontroller_managerOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us + 6.23sWARNros2_control_nodeOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 33 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354875 ms (missed cycles : 4).[0m ×2 + 0.71sWARNcontroller_managerOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us + 0.71sWARNros2_control_nodeOverrun might occur, Total time : 1872.733 us (Expected < 1666.667 us) --> Read time : 164.753 us, Update time : 1387.924 us, Write time : 320.056 us[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572284 ms (missed cycles : 4).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1824.302 us (Expected < 1666.667 us) --> Read time : 211.393 us, Update time : 641.722 us, Write time : 971.187 us[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.789ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754803 ms (missed cycles : 2).[0m ×2 + 2.86sWARNcontroller_managerOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us + 2.86sWARNros2_control_nodeOverrun might occur, Total time : 4507.453 us (Expected < 1666.667 us) --> Read time : 156.813 us, Update time : 3878.931 us, Write time : 471.709 us[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781206004.94413424 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972759 ms (missed cycles : 3).[0m ×2 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.138ms + 3.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.456ms + 3.71sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781206005.49616551 seconds. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.835ms + 3.90sWARNcontroller_managerOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 2273.311 us (Expected < 1666.667 us) --> Read time : 133.992 us, Update time : 105.252 us, Write time : 2034.067 us[0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal + 4.11sINFOjoint_trajectory_controllerAccepted new action goal + 4.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957485 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036992 ms (missed cycles : 2).[0m ×2 + 5.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.934ms + 5.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.462ms + 6.23sWARNcontroller_managerOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us + 6.23sWARNros2_control_nodeOverrun might occur, Total time : 3315.040 us (Expected < 1666.667 us) --> Read time : 130.572 us, Update time : 2717.970 us, Write time : 466.498 us[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 36 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717632 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717632 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.752ms + 0.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.348ms + 0.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 0.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.741ms + 0.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 0.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.634ms + 0.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.707ms + 0.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.547ms + 0.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.670ms + 0.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.235ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820125 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820125 ms (missed cycles : 3).[0m ×2 + 1.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.841ms + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2097.558 us (Expected < 1666.667 us) --> Read time : 246.294 us, Update time : 1477.137 us, Write time : 374.127 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2097.558 us (Expected < 1666.667 us) --> Read time : 246.294 us, Update time : 1477.137 us, Write time : 374.127 us[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.262ms + 1.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.970ms + 1.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.518ms + 1.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 1.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 1.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.595ms + 1.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms + 1.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.703ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150282 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150282 ms (missed cycles : 5).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.422ms + 2.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.490ms + 2.52sWARNcontroller_managerOverrun might occur, Total time : 3135.987 us (Expected < 1666.667 us) --> Read time : 144.492 us, Update time : 115.302 us, Write time : 2876.193 us + 2.52sWARNros2_control_nodeOverrun might occur, Total time : 3135.987 us (Expected < 1666.667 us) --> Read time : 144.492 us, Update time : 115.302 us, Write time : 2876.193 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659035 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659035 ms (missed cycles : 3).[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 2034.487 us (Expected < 1666.667 us) --> Read time : 176.993 us, Update time : 148.123 us, Write time : 1709.371 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 2034.487 us (Expected < 1666.667 us) --> Read time : 176.993 us, Update time : 148.123 us, Write time : 1709.371 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781206041.28356099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.198ms + 4.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.163ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237418 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237418 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781206041.83231187 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.427ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.299ms + 4.86sWARNcontroller_managerOverrun might occur, Total time : 11512.691 us (Expected < 1666.667 us) --> Read time : 146.632 us, Update time : 146.173 us, Write time : 11219.886 us + 4.86sWARNros2_control_nodeOverrun might occur, Total time : 11512.691 us (Expected < 1666.667 us) --> Read time : 146.632 us, Update time : 146.173 us, Write time : 11219.886 us[0m ×2 + 5.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.286ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816769 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816769 ms (missed cycles : 3).[0m ×2 + 5.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 11.214ms + 5.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.219ms + 5.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.386ms + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1789.423 us (Expected < 1666.667 us) --> Read time : 1356.835 us, Update time : 157.123 us, Write time : 275.465 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1789.423 us (Expected < 1666.667 us) --> Read time : 1356.835 us, Update time : 157.123 us, Write time : 275.465 us[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593500 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593500 ms (missed cycles : 2).[0m ×2 + 6.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.426ms + 6.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.727ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 36 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717632 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717632 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.752ms + 0.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.348ms + 0.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 0.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.741ms + 0.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 0.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.634ms + 0.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.707ms + 0.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.547ms + 0.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.670ms + 0.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.235ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820125 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820125 ms (missed cycles : 3).[0m ×2 + 1.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.841ms + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2097.558 us (Expected < 1666.667 us) --> Read time : 246.294 us, Update time : 1477.137 us, Write time : 374.127 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2097.558 us (Expected < 1666.667 us) --> Read time : 246.294 us, Update time : 1477.137 us, Write time : 374.127 us[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.262ms + 1.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.970ms + 1.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.518ms + 1.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 1.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 1.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.595ms + 1.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms + 1.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.703ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150282 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150282 ms (missed cycles : 5).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.422ms + 2.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.490ms + 2.52sWARNcontroller_managerOverrun might occur, Total time : 3135.987 us (Expected < 1666.667 us) --> Read time : 144.492 us, Update time : 115.302 us, Write time : 2876.193 us + 2.52sWARNros2_control_nodeOverrun might occur, Total time : 3135.987 us (Expected < 1666.667 us) --> Read time : 144.492 us, Update time : 115.302 us, Write time : 2876.193 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659035 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659035 ms (missed cycles : 3).[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 2034.487 us (Expected < 1666.667 us) --> Read time : 176.993 us, Update time : 148.123 us, Write time : 1709.371 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 2034.487 us (Expected < 1666.667 us) --> Read time : 176.993 us, Update time : 148.123 us, Write time : 1709.371 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781206041.28356099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.198ms + 4.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.163ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237418 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237418 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781206041.83231187 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.427ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.299ms + 4.86sWARNcontroller_managerOverrun might occur, Total time : 11512.691 us (Expected < 1666.667 us) --> Read time : 146.632 us, Update time : 146.173 us, Write time : 11219.886 us + 4.86sWARNros2_control_nodeOverrun might occur, Total time : 11512.691 us (Expected < 1666.667 us) --> Read time : 146.632 us, Update time : 146.173 us, Write time : 11219.886 us[0m ×2 + 5.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.286ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816769 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816769 ms (missed cycles : 3).[0m ×2 + 5.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 11.214ms + 5.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.219ms + 5.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.386ms + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1789.423 us (Expected < 1666.667 us) --> Read time : 1356.835 us, Update time : 157.123 us, Write time : 275.465 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1789.423 us (Expected < 1666.667 us) --> Read time : 1356.835 us, Update time : 157.123 us, Write time : 275.465 us[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593500 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593500 ms (missed cycles : 2).[0m ×2 + 6.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.426ms + 6.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.727ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 36 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717632 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717632 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.752ms + 0.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.348ms + 0.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 0.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.741ms + 0.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 0.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.634ms + 0.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.707ms + 0.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.547ms + 0.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.670ms + 0.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.235ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820125 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820125 ms (missed cycles : 3).[0m ×2 + 1.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.841ms + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2097.558 us (Expected < 1666.667 us) --> Read time : 246.294 us, Update time : 1477.137 us, Write time : 374.127 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 2097.558 us (Expected < 1666.667 us) --> Read time : 246.294 us, Update time : 1477.137 us, Write time : 374.127 us[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.262ms + 1.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.970ms + 1.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.518ms + 1.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 1.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 1.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.595ms + 1.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms + 1.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.703ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150282 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150282 ms (missed cycles : 5).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.422ms + 2.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.490ms + 2.52sWARNcontroller_managerOverrun might occur, Total time : 3135.987 us (Expected < 1666.667 us) --> Read time : 144.492 us, Update time : 115.302 us, Write time : 2876.193 us + 2.52sWARNros2_control_nodeOverrun might occur, Total time : 3135.987 us (Expected < 1666.667 us) --> Read time : 144.492 us, Update time : 115.302 us, Write time : 2876.193 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659035 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659035 ms (missed cycles : 3).[0m ×2 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 2034.487 us (Expected < 1666.667 us) --> Read time : 176.993 us, Update time : 148.123 us, Write time : 1709.371 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 2034.487 us (Expected < 1666.667 us) --> Read time : 176.993 us, Update time : 148.123 us, Write time : 1709.371 us[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781206041.28356099 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.198ms + 4.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.163ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237418 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237418 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781206041.83231187 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.427ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (7.9e-07 s). ×2 + 4.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.299ms + 4.86sWARNcontroller_managerOverrun might occur, Total time : 11512.691 us (Expected < 1666.667 us) --> Read time : 146.632 us, Update time : 146.173 us, Write time : 11219.886 us + 4.86sWARNros2_control_nodeOverrun might occur, Total time : 11512.691 us (Expected < 1666.667 us) --> Read time : 146.632 us, Update time : 146.173 us, Write time : 11219.886 us[0m ×2 + 5.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.286ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816769 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816769 ms (missed cycles : 3).[0m ×2 + 5.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 11.214ms + 5.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.219ms + 5.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.386ms + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1789.423 us (Expected < 1666.667 us) --> Read time : 1356.835 us, Update time : 157.123 us, Write time : 275.465 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1789.423 us (Expected < 1666.667 us) --> Read time : 1356.835 us, Update time : 157.123 us, Write time : 275.465 us[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593500 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593500 ms (missed cycles : 2).[0m ×2 + 6.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.426ms + 6.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.727ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 48 warnings · 707 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.08sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.10sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.12sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.44sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.44sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.44sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.44sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.44sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.47sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process has finished cleanly [pid 10400] ×2 + 0.52sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.52sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.52sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.53sWARNcontroller_managerOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us + 0.53sWARNros2_control_nodeOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us[0m ×2 + 0.53sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3).[0m ×2 + 0.87sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process has finished cleanly [pid 10403] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.14sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.14sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.18sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 1.19sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 1.19sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 1.21sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 1.53sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 1.96sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.23sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.23sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.23sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.23sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.23sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.26sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 2.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.27sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.28sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 2.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.68sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.68sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 2.75sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.76sINFOforce_torque_sensor_broadcasterconfigure successful + 2.76sINFOros2_control_nodeconfigure successful[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.78sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 3.98sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 3.98sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 5.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 33 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.525ms + 0.39sWARNcontroller_managerOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.608ms + 1.40sWARNcontroller_managerOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us[0m ×2 + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.722ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781206178.47730589 seconds ×3 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.512ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.405ms + 3.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781206179.04533958 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.563ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (1.11e-06 s). ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.880ms + 4.33sWARNcontroller_managerOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.793ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.703ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.395ms + 5.39sWARNcontroller_managerOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.665ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.849ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.410ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.766ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 33 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.525ms + 0.39sWARNcontroller_managerOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.608ms + 1.40sWARNcontroller_managerOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us[0m ×2 + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.722ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781206178.47730589 seconds ×3 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.512ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.405ms + 3.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781206179.04533958 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.563ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (1.11e-06 s). ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.880ms + 4.33sWARNcontroller_managerOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.793ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.703ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.395ms + 5.39sWARNcontroller_managerOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.665ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.849ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.410ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.766ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 48 warnings · 707 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.08sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.10sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.12sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.44sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.44sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.44sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.44sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.44sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.47sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process has finished cleanly [pid 10400] ×2 + 0.52sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.52sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.52sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.53sWARNcontroller_managerOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us + 0.53sWARNros2_control_nodeOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us[0m ×2 + 0.53sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3).[0m ×2 + 0.87sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process has finished cleanly [pid 10403] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.14sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.14sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.18sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 1.19sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 1.19sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 1.21sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 1.53sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 1.96sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.23sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.23sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.23sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.23sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.23sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.26sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 2.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.27sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.28sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 2.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.68sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.68sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 2.75sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.76sINFOforce_torque_sensor_broadcasterconfigure successful + 2.76sINFOros2_control_nodeconfigure successful[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.78sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 3.98sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 3.98sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 5.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 33 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.525ms + 0.39sWARNcontroller_managerOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.608ms + 1.40sWARNcontroller_managerOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us[0m ×2 + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.722ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781206178.47730589 seconds ×3 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.512ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.405ms + 3.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781206179.04533958 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.563ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (1.11e-06 s). ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.880ms + 4.33sWARNcontroller_managerOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.793ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.703ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.395ms + 5.39sWARNcontroller_managerOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.665ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.849ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.410ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.766ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 33 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.525ms + 0.39sWARNcontroller_managerOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.608ms + 1.40sWARNcontroller_managerOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us[0m ×2 + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.722ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781206178.47730589 seconds ×3 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.512ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.405ms + 3.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781206179.04533958 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.563ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (1.11e-06 s). ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.880ms + 4.33sWARNcontroller_managerOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.793ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.703ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.395ms + 5.39sWARNcontroller_managerOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.665ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.849ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.410ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.766ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 33 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.525ms + 0.39sWARNcontroller_managerOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.608ms + 1.40sWARNcontroller_managerOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us[0m ×2 + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.722ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781206178.47730589 seconds ×3 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.512ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.405ms + 3.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781206179.04533958 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.563ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (1.11e-06 s). ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.880ms + 4.33sWARNcontroller_managerOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.793ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.703ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.395ms + 5.39sWARNcontroller_managerOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.665ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.849ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.410ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.766ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 33 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.525ms + 0.39sWARNcontroller_managerOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.608ms + 1.40sWARNcontroller_managerOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us[0m ×2 + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.722ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781206178.47730589 seconds ×3 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.512ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.405ms + 3.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781206179.04533958 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.563ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (1.11e-06 s). ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.880ms + 4.33sWARNcontroller_managerOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.793ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.703ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.395ms + 5.39sWARNcontroller_managerOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.665ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.849ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.410ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.766ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 33 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.525ms + 0.39sWARNcontroller_managerOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.608ms + 1.40sWARNcontroller_managerOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us[0m ×2 + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.722ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781206178.47730589 seconds ×3 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.512ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.405ms + 3.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781206179.04533958 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.563ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (1.11e-06 s). ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.880ms + 4.33sWARNcontroller_managerOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.793ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.703ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.395ms + 5.39sWARNcontroller_managerOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.665ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.849ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.410ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.766ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 33 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.525ms + 0.39sWARNcontroller_managerOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 3013.594 us (Expected < 1666.667 us) --> Read time : 182.373 us, Update time : 2448.074 us, Write time : 383.147 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945009 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.608ms + 1.40sWARNcontroller_managerOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 1822.533 us (Expected < 1666.667 us) --> Read time : 400.548 us, Update time : 148.572 us, Write time : 1273.413 us[0m ×2 + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018662 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.722ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781206178.47730589 seconds ×3 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 2950.793 us (Expected < 1666.667 us) --> Read time : 133.182 us, Update time : 2442.605 us, Write time : 375.006 us[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.512ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.068213 ms (missed cycles : 8).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.405ms + 3.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781206179.04533958 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.563ms + 4.18sINFOobjective_server_nodeFound path in 0 iterations (1.11e-06 s). ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.880ms + 4.33sWARNcontroller_managerOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 2527.295 us (Expected < 1666.667 us) --> Read time : 336.716 us, Update time : 121.182 us, Write time : 2069.397 us[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.793ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.703ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.395ms + 5.39sWARNcontroller_managerOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 1811.673 us (Expected < 1666.667 us) --> Read time : 157.073 us, Update time : 1284.543 us, Write time : 370.057 us[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.665ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836670 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.849ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.410ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.766ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 35 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.842ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750673 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750673 ms (missed cycles : 2).[0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 3018.616 us (Expected < 1666.667 us) --> Read time : 148.053 us, Update time : 2468.015 us, Write time : 402.548 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 3018.616 us (Expected < 1666.667 us) --> Read time : 148.053 us, Update time : 2468.015 us, Write time : 402.548 us[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.785ms + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.179ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724942 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724942 ms (missed cycles : 2).[0m ×2 + 1.69sWARNcontroller_managerOverrun might occur, Total time : 2454.515 us (Expected < 1666.667 us) --> Read time : 161.653 us, Update time : 184.134 us, Write time : 2108.728 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 2454.515 us (Expected < 1666.667 us) --> Read time : 161.653 us, Update time : 184.134 us, Write time : 2108.728 us[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.080ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068517 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068517 ms (missed cycles : 2).[0m ×2 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 1766.273 us (Expected < 1666.667 us) --> Read time : 179.404 us, Update time : 1270.063 us, Write time : 316.806 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1766.273 us (Expected < 1666.667 us) --> Read time : 179.404 us, Update time : 1270.063 us, Write time : 316.806 us[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.705ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444164 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444164 ms (missed cycles : 4).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781206246.83949280 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.738ms + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.731ms + 3.95sWARNcontroller_managerOverrun might occur, Total time : 2208.611 us (Expected < 1666.667 us) --> Read time : 190.284 us, Update time : 226.424 us, Write time : 1791.903 us + 3.95sWARNros2_control_nodeOverrun might occur, Total time : 2208.611 us (Expected < 1666.667 us) --> Read time : 190.284 us, Update time : 226.424 us, Write time : 1791.903 us[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781206247.42425942 seconds. ×3 + 4.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.16sINFOmove_groupClearing octomap...[0m ×2 + 4.16sINFOmove_groupOctomap cleared.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.852ms + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864720 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864720 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.732ms + 4.72sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.390ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.156ms + 4.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781206248.16439772 seconds ×3 + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.910ms + 5.26sWARNcontroller_managerOverrun might occur, Total time : 1770.322 us (Expected < 1666.667 us) --> Read time : 109.762 us, Update time : 1393.215 us, Write time : 267.345 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 1770.322 us (Expected < 1666.667 us) --> Read time : 109.762 us, Update time : 1393.215 us, Write time : 267.345 us[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.787ms + 5.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781206248.70182920 seconds. ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216656 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216656 ms (missed cycles : 5).[0m ×2 + 5.62sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.474ms + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.040ms + 5.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781206249.14196348 seconds ×3 + 6.01sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.760ms + 6.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.32sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.124ms + 6.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.547ms + 6.61sWARNcontroller_managerOverrun might occur, Total time : 4381.321 us (Expected < 1666.667 us) --> Read time : 158.113 us, Update time : 3865.891 us, Write time : 357.317 us + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747598 ms (missed cycles : 3). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 25.1s | 53 errors · 774 warnings · 7336 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-11-19-17-31-456031-015203c380a6-9212 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 10.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 10.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 10.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 10.62sINFOros2_control_node-7process started with pid [9267] + 10.62sINFOmove_group-19process started with pid [9374] + 10.62sINFOparameter_manager_node-20process started with pid [9377] + 10.62sINFOwaypoint_manager_node-21process started with pid [9380] + 10.63sINFOmove_joint_resampler_node-22process started with pid [9381] + 10.63sINFOmove_end_effector_resampler_node-23process started with pid [9409] + 10.63sINFOobjective_server_node_main-24process started with pid [9410] + 10.63sINFOcomponent_container_mt-25process started with pid [9411] + 10.63sINFOexecute_objective_bridge-26process started with pid [9412] + 10.63sINFOui_teleop_bridge-27process started with pid [9413] + 10.63sINFOweb_bridge-28process started with pid [9414] + 10.63sINFOtf2_web_republisher_node-29process started with pid [9415] + 10.63sINFOweb_video_server-30process started with pid [9416] + 10.64sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 10.65sINFOcomponent_container_isolated-1process started with pid [9261] + 10.65sINFOstatic_transform_publisher-2process started with pid [9262] + 10.65sINFOstatic_transform_publisher-3process started with pid [9263] + 10.65sINFOodom_qos_relay.py-4process started with pid [9264] + 10.65sINFOscan_to_scan_filter_chain-5process started with pid [9265] + 10.65sINFOscan_to_scan_filter_chain-6process started with pid [9266] + 10.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process started with pid [9268] + 10.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process started with pid [9357] + 10.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process started with pid [9358] + 10.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-11process started with pid [9359] + 10.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process started with pid [9361] + 10.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process started with pid [9363] + 10.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-14process started with pid [9365] + 10.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process started with pid [9367] + 10.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process started with pid [9369] + 10.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-17process started with pid [9371] + 10.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process started with pid [9372] + 10.73sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 10.73sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 10.73sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 10.73sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 10.73sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×3 + 10.74sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×3 + 10.74sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 10.74sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 10.74sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 10.75sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 10.75sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 10.75sWARNros2_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 ×3 + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971283 ms (missed cycles : 2).[0m + 10.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 10.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 10.79sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 10.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 10.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 10.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 10.89sINFOcomponent_container_mtRobot initialized[0m ×3 + 10.89sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 10.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 10.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 10.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 10.93sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 10.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 10.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 10.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 11.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 11.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 11.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 11.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 11.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 11.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 11.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 11.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 11.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 11.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 11.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 11.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 11.28sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 11.28sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 11.28sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 11.28sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 11.34sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×6 + 11.63sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 11.63sINFOmove_groupat line 594 in ./src/model.cpp ×318 + 11.63sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 11.71sINFOmove_groupat line 589 in ./src/model.cpp ×27 + 11.71sINFOmove_groupLoaded robot model in 0.447467 seconds[0m + 11.71sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 11.71sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.88sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 11.88sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×318 + 11.88sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 11.95sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×27 + 11.95sINFOwaypoint_manager_nodeLoaded robot model in 0.343942 seconds[0m + 11.95sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 11.95sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546716 ms (missed cycles : 8).[0m + 12.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 12.20sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 12.70sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 12.70sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 12.92sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 12.92sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 12.93sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 12.93sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 12.93sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 12.93sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 12.94sINFOmove_groupStarting planning scene monitor[0m ×3 + 12.94sINFOmove_groupListening to '/planning_scene'[0m ×3 + 12.94sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 12.94sINFOmove_groupListening to 'collision_object'[0m ×3 + 12.95sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 13.03sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 13.03sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 13.04sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 13.27sINFOros2-31process started with pid [9930] + 13.45sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 13.45sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 13.45sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 13.45sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 13.45sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 13.45sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 13.45sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 13.45sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 13.45sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 13.45sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 13.45sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 13.45sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 13.45sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 13.45sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 13.45sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 13.45sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 13.45sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 13.45sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 13.45sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 13.48sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 13.60sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 13.60sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 13.60sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tjlzg52b --params-file /tmp/launch_params_fo28805c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9el3z6op --params-file /tmp/launch_params_xok66ryi [0m + 13.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×3 + 13.63sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 13.64sINFOros2_control_nodeconfigure successful[0m ×9 + 13.65sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 13.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 13.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×3 + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679770 ms (missed cycles : 2).[0m + 13.88sWARNros2_control_nodeOverrun might occur, Total time : 5425.097 us (Expected < 1666.667 us) --> Read time : 1560.148 us, Update time : 619.491 us, Write time : 3245.458 us[0m + 14.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 14.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×3 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×3 + 14.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 14.03sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 14.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 14.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9268] + 14.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 14.10sINFOobjective_server_node[2026-06-11 19:17:48.742] [moveit_pro_license] [info] + 14.10sINFOobjective_server_node************************************************* ×8 + 14.10sINFOobjective_server_node* MoveIt Pro License ×4 + 14.10sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 14.15sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tjlzg52b --params-file /tmp/launch_params_fo28805c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9el3z6op --params-file /tmp/launch_params_xok66ryi [0m + 14.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×3 + 14.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 14.24sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×708 + 14.24sINFOros2_control_nodeat line 594 in ./src/model.cpp ×1272 + 14.24sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×672 + 14.26sINFOros2_control_nodeat line 589 in ./src/model.cpp ×108 + 14.27sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 14.27sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 14.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 14.27sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 14.27sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 14.46sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 14.46sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×318 + 14.46sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 14.49sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×27 + 14.49sINFOobjective_server_nodeLoaded robot model in 0.321521 seconds[0m + 14.49sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 14.49sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.60sINFOros2_control_node[2026-06-11 19:17:49.244] [info] Controller state will be published at 20 Hz. + 14.60sINFOros2_control_node[2026-06-11 19:17:49.245] [info] JointVelocityController 'on_configure' succeeded. + 14.64sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×177 + 14.64sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×318 + 14.64sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×168 + 14.67sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×27 + 14.67sINFOcomponent_container_mtLoaded robot model in 0.382202 seconds[0m + 14.67sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 14.68sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.84sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777641 ms (missed cycles : 2).[0m + 14.92sINFOobjective_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. ×3 + 14.92sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 14.93sWARNros2_control_nodeOverrun might occur, Total time : 1694.581 us (Expected < 1666.667 us) --> Read time : 290.786 us, Update time : 45.680 us, Write time : 1358.115 us[0m + 14.94sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 14.95sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 14.95sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 14.95sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 14.95sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 14.95sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 14.95sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 15.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×3 + 15.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 15.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 15.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-17process has finished cleanly [pid 9371] + 15.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tjlzg52b --params-file /tmp/launch_params_fo28805c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9el3z6op --params-file /tmp/launch_params_xok66ryi [0m + 15.05sINFOros2publisher: beginning loop ×3 + 15.05sINFOros2publishing #1: geometry_msgs.msg.PoseWithCovarianceStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id='map'), pose=geometry_msgs.msg.PoseWithCovariance(pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.0, y=0.0, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)), covariance=array([0.25 , 0. , 0. , 0. , 0. , 0. , 0. , 0.25 , ×3 + 15.05sINFOros20. , 0. , 0. , 0. , 0. , 0. , 0. , 0. , ×9 + 15.05sINFOros20. , 0. , 0. , 0.0685]))) ×3 + 15.05sINFOros2 ×3 + 15.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×3 + 15.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 15.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 15.07sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 15.07sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 15.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 15.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×3 + 15.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process has finished cleanly [pid 9358] + 15.36sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 15.36sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 15.37sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tjlzg52b --params-file /tmp/launch_params_fo28805c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9el3z6op --params-file /tmp/launch_params_xok66ryi [0m + 15.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×3 + 15.43sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 15.45sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 15.46sWARNros2_control_nodeOverrun might occur, Total time : 2186.369 us (Expected < 1666.667 us) --> Read time : 207.464 us, Update time : 1434.516 us (Switch time : 70.901 us (Switch chained mode time : 0.470 us, perform mode change time : 0.480 us, Activation time : 56.351 us, Deactivation time : 0.320 us)), Write time : 544.389 us[0m + 15.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×3 + 15.46sINFOros2-31process has finished cleanly [pid 9930] + 15.48sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 15.48sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 15.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 15.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 15.49sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 15.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 15.68sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 15.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 15.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 15.77sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 15.77sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 15.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 9357] + 15.88sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tjlzg52b --params-file /tmp/launch_params_fo28805c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9el3z6op --params-file /tmp/launch_params_xok66ryi [0m + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962430 ms (missed cycles : 2).[0m + 15.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 15.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 15.94sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 15.95sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 15.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×3 + 15.95sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 10.0 Hz)[0m ×3 + 15.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×3 + 15.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 16.09sWARNobjective_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/. ×3 + 16.12sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×3 + 16.34sINFOros2_control_node[2026-06-11 19:17:50.987] [warning] No force/torque sensor configured. The VFC will ignore force references. + 16.34sINFOros2_control_node[2026-06-11 19:17:50.990] [info] Controller state will be published at 10 Hz. + 16.35sINFOros2_control_node[2026-06-11 19:17:50.991] [info] VelocityForceController 'on_configure' succeeded. + 16.41sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 16.41sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 16.41sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 16.42sWARNros2_control_nodeOverrun might occur, Total time : 2447.084 us (Expected < 1666.667 us) --> Read time : 118.242 us, Update time : 1938.225 us, Write time : 390.617 us[0m + 16.47sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 16.47sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 16.54sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 16.54sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 16.54sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 16.55sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 16.55sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 16.55sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 16.61sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 16.67sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 16.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 16.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 16.72sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tjlzg52b --params-file /tmp/launch_params_fo28805c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9el3z6op --params-file /tmp/launch_params_xok66ryi [0m + 16.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9369] + 16.74sINFOmove_group ×12 + 16.75sINFOmove_group******************************************************** ×6 + 16.75sINFOmove_group* MoveGroup using: ×3 + 16.75sINFOmove_group* - apply_planning_scene_service ×3 + 16.75sINFOmove_group* - clear_octomap_service ×3 + 16.75sINFOmove_group* - ExecuteTaskSolution ×3 + 16.75sINFOmove_group* - get_group_urdf ×3 + 16.75sINFOmove_group* - load_geometry_from_file ×3 + 16.75sINFOmove_group* - get_planning_scene_service ×3 + 16.75sINFOmove_group* - kinematics_service ×3 + 16.75sINFOmove_group* - save_geometry_to_file ×3 + 16.75sINFOmove_group* - GetPlanningGroups ×3 + 16.75sINFOmove_group* - SetActiveControllerService ×3 + 16.75sINFOmove_group* - URDFPlanningSceneCapability ×3 + 16.75sINFOmove_group[0m ×3 + 16.75sINFOmove_group[92mYou can start planning now![0m ×3 + 16.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×3 + 16.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 16.86sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 16.86sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 16.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 16.86sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 16.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 16.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541711 ms (missed cycles : 3).[0m + 17.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 17.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 17.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 17.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tjlzg52b --params-file /tmp/launch_params_fo28805c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9el3z6op --params-file /tmp/launch_params_xok66ryi [0m + 17.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-14process has finished cleanly [pid 9365] + 17.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×3 + 17.24sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 17.60sINFOros2_control_node[2026-06-11 19:17:52.249] [info] Controller state will be published at 20 Hz. + 17.60sINFOros2_control_node[2026-06-11 19:17:52.250] [info] JointVelocityController 'on_configure' succeeded. + 17.62sWARNros2_control_nodeOverrun might occur, Total time : 2656.587 us (Expected < 1666.667 us) --> Read time : 797.664 us, Update time : 1504.937 us, Write time : 353.986 us[0m + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288756 ms (missed cycles : 3).[0m + 17.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9372] + 17.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 17.98sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.98sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 17.99sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tjlzg52b --params-file /tmp/launch_params_fo28805c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9el3z6op --params-file /tmp/launch_params_xok66ryi [0m + 18.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×3 + 18.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 18.32sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 18.32sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 18.33sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tjlzg52b --params-file /tmp/launch_params_fo28805c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9el3z6op --params-file /tmp/launch_params_xok66ryi [0m + 18.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process has finished cleanly [pid 9363] + 18.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 18.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×3 + 18.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 18.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 18.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 18.43sWARNros2_control_nodeOverrun might occur, Total time : 4989.419 us (Expected < 1666.667 us) --> Read time : 229.044 us, Update time : 4404.119 us (Switch time : 4314.148 us (Switch chained mode time : 0.580 us, perform mode change time : 8.561 us, Activation time : 4296.646 us, Deactivation time : 0.740 us)), Write time : 356.256 us[0m + 18.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×3 + 18.63sWARNros2_control_nodeOverrun might occur, Total time : 2379.163 us (Expected < 1666.667 us) --> Read time : 1737.771 us, Update time : 285.775 us, Write time : 355.617 us[0m + 18.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process has finished cleanly [pid 9361] + 18.75sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 18.75sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 18.75sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tjlzg52b --params-file /tmp/launch_params_fo28805c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9el3z6op --params-file /tmp/launch_params_xok66ryi [0m + 18.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×3 + 18.83sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.397959 ms (missed cycles : 4).[0m + 19.21sINFOros2_control_node[2026-06-11 19:17:53.854] [warning] No force/torque sensor configured. The VFC will ignore force references. + 19.21sINFOros2_control_node[2026-06-11 19:17:53.856] [info] Controller state will be published at 10 Hz. + 19.21sINFOros2_control_node[2026-06-11 19:17:53.857] [info] VelocityForceController 'on_configure' succeeded. + 19.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9367] + 19.59sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 19.59sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 19.59sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tjlzg52b --params-file /tmp/launch_params_fo28805c --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9el3z6op --params-file /tmp/launch_params_xok66ryi [0m + 19.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×3 + 19.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 19.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 19.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×3 + 19.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×29 + 19.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×29 + 20.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-11process has finished cleanly [pid 9359] + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.523528 ms (missed cycles : 6).[0m + 20.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205475.07766080 seconds. + 20.43sINFOmove_groupClearing octomap...[0m ×4 + 20.43sINFOmove_groupOctomap cleared.[0m ×4 + 20.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205475.08794141 seconds + 20.47sWARNros2_control_nodeOverrun might occur, Total time : 3591.124 us (Expected < 1666.667 us) --> Read time : 180.593 us, Update time : 2994.523 us, Write time : 416.008 us[0m + 20.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205475.63948226 seconds. + 21.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205475.64964724 seconds + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508735 ms (missed cycles : 3).[0m + 21.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205476.19127536 seconds. + 21.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205476.34189701 seconds + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827777 ms (missed cycles : 2).[0m + 22.11sWARNros2_control_nodeOverrun might occur, Total time : 1940.895 us (Expected < 1666.667 us) --> Read time : 142.533 us, Update time : 1492.176 us, Write time : 306.186 us[0m + 22.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205476.91738439 seconds. + 22.28sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 22.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 22.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 22.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 22.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 22.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 22.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 22.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 22.33sWARNros2_control_nodeOverrun might occur, Total time : 5558.740 us (Expected < 1666.667 us) --> Read time : 188.573 us, Update time : 4985.770 us (Switch time : 4757.066 us (Switch chained mode time : 0.580 us, perform mode change time : 5.360 us, Activation time : 4739.165 us, Deactivation time : 0.460 us)), Write time : 384.397 us[0m + 22.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205476.97755051 seconds + 22.87sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205477.51812077 seconds. + 22.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 22.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 22.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 22.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.189251 ms (missed cycles : 7).[0m + 23.24sWARNros2_control_nodeOverrun might occur, Total time : 2187.259 us (Expected < 1666.667 us) --> Read time : 225.104 us, Update time : 132.022 us, Write time : 1830.133 us[0m + 23.49sINFOros2_control_nodeMuJoCo sim: 0.82% of iterations over time budget. Below 1% expected for non-realtime.[0m + 23.93sINFOobjective_server_nodePlanning for 177 path waypoints. + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118112 ms (missed cycles : 2).[0m + 24.25sWARNros2_control_nodeOverrun might occur, Total time : 5789.873 us (Expected < 1666.667 us) --> Read time : 162.782 us, Update time : 5004.200 us, Write time : 622.891 us[0m + 24.42sINFOros2_control_nodeReceived new action goal[0m ×17 + 24.42sINFOros2_control_nodeAccepted new action goal[0m ×17 + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848312 ms (missed cycles : 3).[0m + 26.12sWARNros2_control_nodeOverrun might occur, Total time : 6345.933 us (Expected < 1666.667 us) --> Read time : 479.148 us, Update time : 5473.878 us, Write time : 392.907 us[0m + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760792 ms (missed cycles : 3).[0m + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714427 ms (missed cycles : 3).[0m + 28.25sWARNros2_control_nodeOverrun might occur, Total time : 2317.002 us (Expected < 1666.667 us) --> Read time : 167.793 us, Update time : 676.262 us, Write time : 1472.947 us[0m + 28.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842259 ms (missed cycles : 3).[0m + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881989 ms (missed cycles : 2).[0m + 29.40sWARNros2_control_nodeOverrun might occur, Total time : 1712.661 us (Expected < 1666.667 us) --> Read time : 175.263 us, Update time : 1013.358 us, Write time : 524.040 us[0m + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969087 ms (missed cycles : 3).[0m + 30.92sWARNros2_control_nodeOverrun might occur, Total time : 2777.109 us (Expected < 1666.667 us) --> Read time : 123.262 us, Update time : 2267.981 us, Write time : 385.866 us[0m + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413074 ms (missed cycles : 2).[0m + 32.04sWARNros2_control_nodeOverrun might occur, Total time : 2248.741 us (Expected < 1666.667 us) --> Read time : 169.433 us, Update time : 1743.082 us, Write time : 336.226 us[0m + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544631 ms (missed cycles : 4).[0m + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973100 ms (missed cycles : 5).[0m + 34.46sWARNros2_control_nodeOverrun might occur, Total time : 1934.444 us (Expected < 1666.667 us) --> Read time : 140.452 us, Update time : 1356.115 us, Write time : 437.877 us[0m + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721174 ms (missed cycles : 2).[0m + 35.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262209 ms (missed cycles : 2).[0m + 35.88sWARNros2_control_nodeOverrun might occur, Total time : 3315.590 us (Expected < 1666.667 us) --> Read time : 141.673 us, Update time : 2766.610 us, Write time : 407.307 us[0m + 36.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894176 ms (missed cycles : 5).[0m + 37.46sWARNros2_control_nodeOverrun might occur, Total time : 1754.952 us (Expected < 1666.667 us) --> Read time : 726.973 us, Update time : 150.913 us, Write time : 877.066 us[0m + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885611 ms (missed cycles : 2).[0m + 38.97sWARNros2_control_nodeOverrun might occur, Total time : 4179.435 us (Expected < 1666.667 us) --> Read time : 151.793 us, Update time : 3638.335 us, Write time : 389.307 us[0m + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668530 ms (missed cycles : 3).[0m + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220902 ms (missed cycles : 4).[0m + 40.37sWARNros2_control_nodeOverrun might occur, Total time : 2663.298 us (Expected < 1666.667 us) --> Read time : 150.543 us, Update time : 146.872 us, Write time : 2365.883 us[0m + 41.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696663 ms (missed cycles : 2).[0m + 41.96sWARNros2_control_nodeOverrun might occur, Total time : 2566.896 us (Expected < 1666.667 us) --> Read time : 161.343 us, Update time : 1951.165 us, Write time : 454.388 us[0m + 42.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711045 ms (missed cycles : 2).[0m + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249674 ms (missed cycles : 2).[0m + 43.45sWARNros2_control_nodeOverrun might occur, Total time : 3163.357 us (Expected < 1666.667 us) --> Read time : 2328.972 us, Update time : 409.377 us, Write time : 425.008 us[0m + 44.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949278 ms (missed cycles : 2).[0m + 45.09sWARNros2_control_nodeOverrun might occur, Total time : 3479.932 us (Expected < 1666.667 us) --> Read time : 372.997 us, Update time : 659.831 us, Write time : 2447.104 us[0m + 45.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401910 ms (missed cycles : 4).[0m + 46.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465468 ms (missed cycles : 3).[0m + 46.95sWARNros2_control_nodeOverrun might occur, Total time : 4719.744 us (Expected < 1666.667 us) --> Read time : 171.843 us, Update time : 85.272 us, Write time : 4462.629 us[0m + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116902 ms (missed cycles : 2).[0m + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917660 ms (missed cycles : 2).[0m + 48.73sWARNros2_control_nodeOverrun might occur, Total time : 2756.529 us (Expected < 1666.667 us) --> Read time : 158.803 us, Update time : 2300.171 us, Write time : 297.555 us[0m + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246468 ms (missed cycles : 7).[0m + 49.87sWARNros2_control_nodeOverrun might occur, Total time : 2017.316 us (Expected < 1666.667 us) --> Read time : 1467.556 us, Update time : 162.313 us, Write time : 387.447 us[0m + 50.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.310356 ms (missed cycles : 7).[0m + 50.89sWARNros2_control_nodeOverrun might occur, Total time : 2187.859 us (Expected < 1666.667 us) --> Read time : 1127.550 us, Update time : 147.423 us, Write time : 912.886 us[0m + 51.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063349 ms (missed cycles : 3).[0m + 52.48sWARNros2_control_nodeOverrun might occur, Total time : 4976.350 us (Expected < 1666.667 us) --> Read time : 134.563 us, Update time : 4211.486 us, Write time : 630.301 us[0m + 52.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754843 ms (missed cycles : 2).[0m + 53.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373981 ms (missed cycles : 3).[0m + 54.44sWARNros2_control_nodeOverrun might occur, Total time : 1730.231 us (Expected < 1666.667 us) --> Read time : 188.954 us, Update time : 445.648 us, Write time : 1095.629 us[0m + 55.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614007 ms (missed cycles : 3).[0m + 55.53sWARNros2_control_nodeOverrun might occur, Total time : 1822.062 us (Expected < 1666.667 us) --> Read time : 261.694 us, Update time : 1170.311 us, Write time : 390.057 us[0m + 56.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762200 ms (missed cycles : 2).[0m + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604686 ms (missed cycles : 3).[0m + 57.38sWARNros2_control_nodeOverrun might occur, Total time : 2101.958 us (Expected < 1666.667 us) --> Read time : 142.963 us, Update time : 108.262 us, Write time : 1850.733 us[0m + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461741 ms (missed cycles : 2).[0m + 58.53sWARNros2_control_nodeOverrun might occur, Total time : 2347.582 us (Expected < 1666.667 us) --> Read time : 151.883 us, Update time : 1702.160 us, Write time : 493.539 us[0m + 59.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670919 ms (missed cycles : 2).[0m + 59.81sWARNros2_control_nodeOverrun might occur, Total time : 2136.169 us (Expected < 1666.667 us) --> Read time : 142.953 us, Update time : 119.012 us, Write time : 1874.204 us[0m + 60.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802163 ms (missed cycles : 3).[0m + 61.09sWARNros2_control_nodeOverrun might occur, Total time : 3406.152 us (Expected < 1666.667 us) --> Read time : 2582.137 us, Update time : 185.573 us, Write time : 638.442 us[0m + 61.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235433 ms (missed cycles : 3).[0m + 62.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.257733 ms (missed cycles : 7).[0m + 63.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817788 ms (missed cycles : 5).[0m + 63.67sWARNros2_control_nodeOverrun might occur, Total time : 5256.874 us (Expected < 1666.667 us) --> Read time : 171.723 us, Update time : 195.204 us, Write time : 4889.947 us[0m + 64.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.955095 ms (missed cycles : 5).[0m + 64.74sWARNros2_control_nodeOverrun might occur, Total time : 3322.170 us (Expected < 1666.667 us) --> Read time : 134.543 us, Update time : 2864.711 us, Write time : 322.916 us[0m + 65.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.158284 ms (missed cycles : 7).[0m + 66.00sWARNros2_control_nodeOverrun might occur, Total time : 2381.203 us (Expected < 1666.667 us) --> Read time : 514.579 us, Update time : 1490.287 us, Write time : 376.337 us[0m + 66.04sINFOros2_control_nodeGoal reached, success![0m ×15 + 66.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781205520.72289228 seconds + 66.62sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781205521.26320267 seconds. + 66.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826783 ms (missed cycles : 2).[0m + 67.39sWARNros2_control_nodeOverrun might occur, Total time : 2230.080 us (Expected < 1666.667 us) --> Read time : 130.622 us, Update time : 1599.339 us, Write time : 500.119 us[0m + 67.54sINFOobjective_server_nodeFound path in 0 iterations (2.0391e-05 s). + 67.54sINFOobjective_server_nodePath shortcutter: [X____X] + 67.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 67.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185047 ms (missed cycles : 2).[0m + 68.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833952 ms (missed cycles : 3).[0m + 69.10sWARNros2_control_nodeOverrun might occur, Total time : 1706.431 us (Expected < 1666.667 us) --> Read time : 125.903 us, Update time : 1229.302 us, Write time : 351.226 us[0m + 69.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781205524.31334972 seconds + 69.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994872 ms (missed cycles : 2).[0m + 70.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781205524.85362363 seconds. + 70.56sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). ×2 + 70.70sWARNros2_control_nodeOverrun might occur, Total time : 2255.310 us (Expected < 1666.667 us) --> Read time : 116.102 us, Update time : 1863.033 us, Write time : 276.175 us[0m + 70.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633980 ms (missed cycles : 4).[0m + 71.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686989 ms (missed cycles : 5).[0m + 72.23sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 72.80sWARNros2_control_nodeOverrun might occur, Total time : 1672.720 us (Expected < 1666.667 us) --> Read time : 142.302 us, Update time : 1214.802 us, Write time : 315.616 us[0m + 72.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286220 ms (missed cycles : 2).[0m + 73.97sWARNros2_control_nodeOverrun might occur, Total time : 2611.867 us (Expected < 1666.667 us) --> Read time : 137.123 us, Update time : 2102.287 us, Write time : 372.457 us[0m + 73.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809178 ms (missed cycles : 2).[0m + 75.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364898 ms (missed cycles : 3).[0m + 75.24sWARNros2_control_nodeOverrun might occur, Total time : 1801.771 us (Expected < 1666.667 us) --> Read time : 583.050 us, Update time : 603.900 us, Write time : 614.821 us[0m + 76.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342426 ms (missed cycles : 3).[0m + 77.04sWARNros2_control_nodeOverrun might occur, Total time : 6898.474 us (Expected < 1666.667 us) --> Read time : 144.742 us, Update time : 203.564 us, Write time : 6550.168 us[0m + 77.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.455311 ms (missed cycles : 5).[0m + 78.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228590 ms (missed cycles : 2).[0m + 78.66sWARNros2_control_nodeOverrun might occur, Total time : 4174.205 us (Expected < 1666.667 us) --> Read time : 264.865 us, Update time : 3459.762 us, Write time : 449.578 us[0m + 79.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623085 ms (missed cycles : 3).[0m + 79.79sWARNros2_control_nodeOverrun might occur, Total time : 1965.275 us (Expected < 1666.667 us) --> Read time : 171.693 us, Update time : 178.013 us, Write time : 1615.569 us[0m + 80.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.564431 ms (missed cycles : 6).[0m + 81.14sWARNros2_control_nodeOverrun might occur, Total time : 4068.092 us (Expected < 1666.667 us) --> Read time : 157.192 us, Update time : 112.862 us, Write time : 3798.038 us[0m + 81.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.763002 ms (missed cycles : 6).[0m + 82.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741076 ms (missed cycles : 2).[0m + 82.41sWARNros2_control_nodeOverrun might occur, Total time : 1692.990 us (Expected < 1666.667 us) --> Read time : 216.234 us, Update time : 1152.400 us, Write time : 324.356 us[0m + 83.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985208 ms (missed cycles : 4).[0m + 83.50sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m + 84.17sWARNros2_control_nodeOverrun might occur, Total time : 2777.920 us (Expected < 1666.667 us) --> Read time : 153.133 us, Update time : 470.608 us, Write time : 2154.179 us[0m + 84.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393790 ms (missed cycles : 2).[0m + 85.34sWARNros2_control_nodeOverrun might occur, Total time : 3569.323 us (Expected < 1666.667 us) --> Read time : 3090.665 us, Update time : 147.662 us, Write time : 330.996 us[0m + 85.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901974 ms (missed cycles : 2).[0m + 86.43sWARNros2_control_nodeOverrun might occur, Total time : 4421.370 us (Expected < 1666.667 us) --> Read time : 162.083 us, Update time : 92.852 us, Write time : 4166.435 us[0m + 86.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744541 ms (missed cycles : 2).[0m + 87.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591151 ms (missed cycles : 2).[0m + 87.67sWARNros2_control_nodeOverrun might occur, Total time : 1714.401 us (Expected < 1666.667 us) --> Read time : 102.122 us, Update time : 104.842 us, Write time : 1507.437 us[0m + 88.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840892 ms (missed cycles : 3).[0m + 88.91sWARNros2_control_nodeOverrun might occur, Total time : 3056.075 us (Expected < 1666.667 us) --> Read time : 141.763 us, Update time : 2564.786 us, Write time : 349.526 us[0m + 89.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198976 ms (missed cycles : 4).[0m + 90.22sWARNros2_control_nodeOverrun might occur, Total time : 4726.995 us (Expected < 1666.667 us) --> Read time : 166.693 us, Update time : 4243.646 us, Write time : 316.656 us[0m + 90.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889792 ms (missed cycles : 2).[0m + 91.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.067716 ms (missed cycles : 5).[0m + 91.88sWARNros2_control_nodeOverrun might occur, Total time : 2581.856 us (Expected < 1666.667 us) --> Read time : 266.065 us, Update time : 1986.385 us, Write time : 329.406 us[0m + 92.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897077 ms (missed cycles : 2).[0m + 93.03sWARNros2_control_nodeOverrun might occur, Total time : 3514.873 us (Expected < 1666.667 us) --> Read time : 133.402 us, Update time : 3019.924 us, Write time : 361.547 us[0m + 93.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.917591 ms (missed cycles : 5).[0m + 94.37sWARNros2_control_nodeOverrun might occur, Total time : 3756.657 us (Expected < 1666.667 us) --> Read time : 195.614 us, Update time : 3119.405 us, Write time : 441.638 us[0m + 94.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518571 ms (missed cycles : 3).[0m + 95.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095349 ms (missed cycles : 4).[0m + 96.20sWARNros2_control_nodeOverrun might occur, Total time : 2461.175 us (Expected < 1666.667 us) --> Read time : 215.824 us, Update time : 73.662 us, Write time : 2171.689 us[0m + 97.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531890 ms (missed cycles : 5).[0m + 97.41sWARNros2_control_nodeOverrun might occur, Total time : 2167.149 us (Expected < 1666.667 us) --> Read time : 149.603 us, Update time : 1704.890 us, Write time : 312.656 us[0m + 98.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.726082 ms (missed cycles : 8).[0m + 99.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589998 ms (missed cycles : 6).[0m + 99.49sWARNros2_control_nodeOverrun might occur, Total time : 1788.302 us (Expected < 1666.667 us) --> Read time : 149.922 us, Update time : 1254.003 us, Write time : 384.377 us[0m +100.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020122 ms (missed cycles : 3).[0m +100.95sWARNros2_control_nodeOverrun might occur, Total time : 1780.422 us (Expected < 1666.667 us) --> Read time : 204.204 us, Update time : 1008.588 us, Write time : 567.630 us[0m +100.98sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +101.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795658 ms (missed cycles : 2).[0m +102.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.309910 ms (missed cycles : 6).[0m +102.40sWARNros2_control_nodeOverrun might occur, Total time : 2706.288 us (Expected < 1666.667 us) --> Read time : 153.183 us, Update time : 2174.299 us, Write time : 378.806 us[0m +103.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015651 ms (missed cycles : 2).[0m +104.09sWARNros2_control_nodeOverrun might occur, Total time : 2128.828 us (Expected < 1666.667 us) --> Read time : 125.692 us, Update time : 1718.471 us, Write time : 284.665 us[0m +104.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956966 ms (missed cycles : 5).[0m +105.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120012 ms (missed cycles : 4).[0m +105.93sWARNros2_control_nodeOverrun might occur, Total time : 2623.996 us (Expected < 1666.667 us) --> Read time : 122.952 us, Update time : 2167.118 us, Write time : 333.926 us[0m +106.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036727 ms (missed cycles : 4).[0m +107.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626822 ms (missed cycles : 5).[0m +107.85sWARNros2_control_nodeOverrun might occur, Total time : 9835.416 us (Expected < 1666.667 us) --> Read time : 137.013 us, Update time : 9285.386 us, Write time : 413.017 us[0m +108.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826830 ms (missed cycles : 3).[0m +109.34sWARNros2_control_nodeOverrun might occur, Total time : 2420.673 us (Expected < 1666.667 us) --> Read time : 205.683 us, Update time : 1859.724 us, Write time : 355.266 us[0m +109.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924828 ms (missed cycles : 3).[0m +110.34sWARNros2_control_nodeOverrun might occur, Total time : 1692.141 us (Expected < 1666.667 us) --> Read time : 1262.483 us, Update time : 86.851 us, Write time : 342.807 us[0m +110.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967749 ms (missed cycles : 3).[0m +111.71sWARNros2_control_nodeOverrun might occur, Total time : 1871.113 us (Expected < 1666.667 us) --> Read time : 171.473 us, Update time : 1257.202 us, Write time : 442.438 us[0m +111.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811691 ms (missed cycles : 2).[0m +112.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483038 ms (missed cycles : 4).[0m +113.35sWARNros2_control_nodeOverrun might occur, Total time : 1687.450 us (Expected < 1666.667 us) --> Read time : 142.613 us, Update time : 459.368 us, Write time : 1085.469 us[0m +113.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686956 ms (missed cycles : 3).[0m +114.98sWARNros2_control_nodeOverrun might occur, Total time : 7984.013 us (Expected < 1666.667 us) --> Read time : 98.752 us, Update time : 98.862 us, Write time : 7786.399 us[0m +114.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239922 ms (missed cycles : 5).[0m +116.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042841 ms (missed cycles : 2).[0m +116.57sWARNros2_control_nodeOverrun might occur, Total time : 1820.393 us (Expected < 1666.667 us) --> Read time : 180.474 us, Update time : 133.372 us, Write time : 1506.547 us[0m +117.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807914 ms (missed cycles : 6).[0m +117.73sWARNros2_control_nodeOverrun might occur, Total time : 4542.761 us (Expected < 1666.667 us) --> Read time : 115.672 us, Update time : 3860.819 us, Write time : 566.270 us[0m +118.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.457671 ms (missed cycles : 5).[0m +118.75sWARNros2_control_nodeOverrun might occur, Total time : 1793.422 us (Expected < 1666.667 us) --> Read time : 172.753 us, Update time : 680.132 us, Write time : 940.537 us[0m +119.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296875 ms (missed cycles : 2).[0m +119.78sWARNros2_control_nodeOverrun might occur, Total time : 1907.444 us (Expected < 1666.667 us) --> Read time : 172.793 us, Update time : 1416.916 us, Write time : 317.735 us[0m +120.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924911 ms (missed cycles : 4).[0m +121.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.842919 ms (missed cycles : 8).[0m +122.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.351625 ms (missed cycles : 6).[0m +123.14sWARNros2_control_nodeOverrun might occur, Total time : 2642.267 us (Expected < 1666.667 us) --> Read time : 163.913 us, Update time : 2129.228 us, Write time : 349.126 us[0m +123.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076101 ms (missed cycles : 2).[0m +124.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822823 ms (missed cycles : 4).[0m +124.64sWARNros2_control_nodeOverrun might occur, Total time : 1975.375 us (Expected < 1666.667 us) --> Read time : 816.225 us, Update time : 239.344 us, Write time : 919.806 us[0m +125.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.440299 ms (missed cycles : 6).[0m +125.77sWARNros2_control_nodeOverrun might occur, Total time : 2517.075 us (Expected < 1666.667 us) --> Read time : 2021.466 us, Update time : 173.233 us, Write time : 322.376 us[0m +126.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215878 ms (missed cycles : 2).[0m +126.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781205581.53377628 seconds +127.14sWARNros2_control_nodeOverrun might occur, Total time : 2776.740 us (Expected < 1666.667 us) --> Read time : 171.364 us, Update time : 294.945 us, Write time : 2310.431 us[0m +127.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540971 ms (missed cycles : 3).[0m +127.44sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781205582.08460736 seconds. +127.78sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +127.80sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +128.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153625 ms (missed cycles : 4).[0m +129.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934984 ms (missed cycles : 5).[0m +129.99sWARNros2_control_nodeOverrun might occur, Total time : 2727.759 us (Expected < 1666.667 us) --> Read time : 166.213 us, Update time : 127.712 us, Write time : 2433.834 us[0m +130.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689759 ms (missed cycles : 2).[0m +131.48sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781205586.12478852 seconds +131.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286635 ms (missed cycles : 3).[0m +131.86sWARNros2_control_nodeOverrun might occur, Total time : 5001.051 us (Expected < 1666.667 us) --> Read time : 143.163 us, Update time : 65.531 us, Write time : 4792.357 us[0m +132.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.601136 ms (missed cycles : 4).[0m +132.99sWARNros2_control_nodeOverrun might occur, Total time : 1797.332 us (Expected < 1666.667 us) --> Read time : 193.303 us, Update time : 226.714 us, Write time : 1377.315 us[0m +133.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781205587.66656446 seconds. +133.37sINFOobjective_server_nodeFound path in 0 iterations (1.401e-06 s). +133.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273836 ms (missed cycles : 2).[0m +134.22sWARNros2_control_nodeOverrun might occur, Total time : 1758.982 us (Expected < 1666.667 us) --> Read time : 120.542 us, Update time : 1244.513 us, Write time : 393.927 us[0m +134.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785894 ms (missed cycles : 2).[0m +134.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +135.39sWARNros2_control_nodeOverrun might occur, Total time : 2614.087 us (Expected < 1666.667 us) --> Read time : 143.893 us, Update time : 2127.578 us, Write time : 342.616 us[0m +135.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.919627 ms (missed cycles : 5).[0m +136.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927341 ms (missed cycles : 6).[0m +137.16sWARNros2_control_nodeOverrun might occur, Total time : 2806.840 us (Expected < 1666.667 us) --> Read time : 347.486 us, Update time : 131.013 us, Write time : 2328.341 us[0m +137.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.270365 ms (missed cycles : 6).[0m +138.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.853701 ms (missed cycles : 5).[0m +139.25sWARNros2_control_nodeOverrun might occur, Total time : 1857.723 us (Expected < 1666.667 us) --> Read time : 613.291 us, Update time : 905.806 us, Write time : 338.626 us[0m +139.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240436 ms (missed cycles : 2).[0m +140.40sWARNros2_control_nodeOverrun might occur, Total time : 2260.591 us (Expected < 1666.667 us) --> Read time : 191.284 us, Update time : 92.772 us, Write time : 1976.535 us[0m +140.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351499 ms (missed cycles : 5).[0m +141.70sWARNros2_control_nodeOverrun might occur, Total time : 2373.901 us (Expected < 1666.667 us) --> Read time : 135.822 us, Update time : 909.296 us, Write time : 1328.783 us[0m +141.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384914 ms (missed cycles : 3).[0m +142.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.260304 ms (missed cycles : 6).[0m +143.39sWARNros2_control_nodeOverrun might occur, Total time : 1911.864 us (Expected < 1666.667 us) --> Read time : 156.663 us, Update time : 1421.455 us, Write time : 333.746 us[0m +143.50sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m +143.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127460 ms (missed cycles : 2).[0m +144.69sWARNros2_control_nodeOverrun might occur, Total time : 2238.560 us (Expected < 1666.667 us) --> Read time : 155.103 us, Update time : 1681.020 us, Write time : 402.437 us[0m +145.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887882 ms (missed cycles : 3).[0m +146.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753781 ms (missed cycles : 5).[0m +147.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920698 ms (missed cycles : 2).[0m +147.13sWARNros2_control_nodeOverrun might occur, Total time : 2687.328 us (Expected < 1666.667 us) --> Read time : 145.062 us, Update time : 2193.040 us, Write time : 349.226 us[0m +148.17sWARNros2_control_nodeOverrun might occur, Total time : 3022.794 us (Expected < 1666.667 us) --> Read time : 148.972 us, Update time : 1170.352 us, Write time : 1703.470 us[0m +148.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407334 ms (missed cycles : 3).[0m +149.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511011 ms (missed cycles : 6).[0m +149.79sWARNros2_control_nodeOverrun might occur, Total time : 1809.423 us (Expected < 1666.667 us) --> Read time : 304.946 us, Update time : 565.110 us, Write time : 939.367 us[0m +150.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801878 ms (missed cycles : 3).[0m +151.31sWARNros2_control_nodeOverrun might occur, Total time : 1984.866 us (Expected < 1666.667 us) --> Read time : 139.943 us, Update time : 1455.796 us, Write time : 389.127 us[0m +151.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023455 ms (missed cycles : 5).[0m +152.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388087 ms (missed cycles : 3).[0m +153.04sWARNros2_control_nodeOverrun might occur, Total time : 5495.779 us (Expected < 1666.667 us) --> Read time : 175.504 us, Update time : 4950.548 us, Write time : 369.727 us[0m +153.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683117 ms (missed cycles : 3).[0m +154.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.025983 ms (missed cycles : 10).[0m +154.73sWARNros2_control_nodeOverrun might occur, Total time : 4810.046 us (Expected < 1666.667 us) --> Read time : 132.772 us, Update time : 4242.056 us, Write time : 435.218 us[0m +155.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.165154 ms (missed cycles : 7).[0m +156.31sWARNros2_control_nodeOverrun might occur, Total time : 4256.176 us (Expected < 1666.667 us) --> Read time : 160.783 us, Update time : 61.851 us, Write time : 4033.542 us[0m +156.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112485 ms (missed cycles : 2).[0m +157.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852732 ms (missed cycles : 5).[0m +157.82sWARNros2_control_nodeOverrun might occur, Total time : 1757.811 us (Expected < 1666.667 us) --> Read time : 1259.822 us, Update time : 154.843 us, Write time : 343.146 us[0m +158.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784040 ms (missed cycles : 5).[0m +159.26sWARNros2_control_nodeOverrun might occur, Total time : 2771.670 us (Expected < 1666.667 us) --> Read time : 106.512 us, Update time : 154.683 us, Write time : 2510.475 us[0m +159.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179185 ms (missed cycles : 4).[0m +160.58sWARNros2_control_nodeOverrun might occur, Total time : 4843.397 us (Expected < 1666.667 us) --> Read time : 124.612 us, Update time : 4277.757 us, Write time : 441.028 us[0m +160.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580743 ms (missed cycles : 3).[0m +161.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933896 ms (missed cycles : 3).[0m +161.87sWARNros2_control_nodeOverrun might occur, Total time : 3597.354 us (Expected < 1666.667 us) --> Read time : 701.423 us, Update time : 133.512 us, Write time : 2762.419 us[0m +162.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948020 ms (missed cycles : 2).[0m +163.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781205617.90672040 seconds +163.71sWARNros2_control_nodeOverrun might occur, Total time : 1669.490 us (Expected < 1666.667 us) --> Read time : 336.036 us, Update time : 335.806 us, Write time : 997.648 us[0m +163.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781205618.46234465 seconds. +163.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873251 ms (missed cycles : 5).[0m +164.16sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). +164.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545284 ms (missed cycles : 4).[0m +164.95sWARNros2_control_nodeOverrun might occur, Total time : 3949.731 us (Expected < 1666.667 us) --> Read time : 125.102 us, Update time : 3427.622 us, Write time : 397.007 us[0m +165.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +165.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697119 ms (missed cycles : 3).[0m +166.02sWARNros2_control_nodeOverrun might occur, Total time : 2437.193 us (Expected < 1666.667 us) --> Read time : 148.412 us, Update time : 112.923 us, Write time : 2175.858 us[0m +166.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646317 ms (missed cycles : 6).[0m +167.29sWARNros2_control_nodeOverrun might occur, Total time : 2517.325 us (Expected < 1666.667 us) --> Read time : 241.954 us, Update time : 1814.213 us, Write time : 461.158 us[0m +167.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096991 ms (missed cycles : 2).[0m +168.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874084 ms (missed cycles : 2).[0m +169.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096982 ms (missed cycles : 4).[0m +170.18sWARNros2_control_nodeOverrun might occur, Total time : 3628.516 us (Expected < 1666.667 us) --> Read time : 125.252 us, Update time : 71.892 us, Write time : 3431.372 us[0m +171.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056164 ms (missed cycles : 3).[0m +172.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.439252 ms (missed cycles : 7).[0m +173.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.743079 ms (missed cycles : 6).[0m +174.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899347 ms (missed cycles : 2).[0m +174.50sWARNros2_control_nodeOverrun might occur, Total time : 2077.357 us (Expected < 1666.667 us) --> Read time : 127.442 us, Update time : 1636.270 us, Write time : 313.645 us[0m +175.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990678 ms (missed cycles : 3).[0m +176.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187432 ms (missed cycles : 2).[0m +176.93sWARNros2_control_nodeOverrun might occur, Total time : 1811.413 us (Expected < 1666.667 us) --> Read time : 162.263 us, Update time : 107.482 us, Write time : 1541.668 us[0m +177.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462069 ms (missed cycles : 4).[0m +178.04sWARNros2_control_nodeOverrun might occur, Total time : 1957.145 us (Expected < 1666.667 us) --> Read time : 156.143 us, Update time : 150.413 us, Write time : 1650.589 us[0m +178.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979437 ms (missed cycles : 2).[0m +179.06sWARNros2_control_nodeOverrun might occur, Total time : 4993.441 us (Expected < 1666.667 us) --> Read time : 4480.081 us, Update time : 163.543 us, Write time : 349.817 us[0m +179.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451119 ms (missed cycles : 4).[0m +180.23sWARNros2_control_nodeOverrun might occur, Total time : 2174.099 us (Expected < 1666.667 us) --> Read time : 168.513 us, Update time : 1638.009 us, Write time : 367.577 us[0m +180.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062756 ms (missed cycles : 2).[0m +181.26sWARNros2_control_nodeOverrun might occur, Total time : 2276.911 us (Expected < 1666.667 us) --> Read time : 128.263 us, Update time : 1821.172 us, Write time : 327.476 us[0m +181.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559830 ms (missed cycles : 6).[0m +182.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.583539 ms (missed cycles : 6).[0m +183.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859181 ms (missed cycles : 2).[0m +184.40sWARNros2_control_nodeOverrun might occur, Total time : 1896.794 us (Expected < 1666.667 us) --> Read time : 415.487 us, Update time : 1160.031 us, Write time : 321.276 us[0m +184.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162386 ms (missed cycles : 4).[0m +185.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.999487 ms (missed cycles : 8).[0m +186.51sWARNros2_control_nodeOverrun might occur, Total time : 2518.905 us (Expected < 1666.667 us) --> Read time : 1100.400 us, Update time : 1089.319 us, Write time : 329.186 us[0m +186.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237647 ms (missed cycles : 2).[0m +187.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201159 ms (missed cycles : 4).[0m +187.77sWARNros2_control_nodeOverrun might occur, Total time : 2602.246 us (Expected < 1666.667 us) --> Read time : 137.172 us, Update time : 2130.268 us, Write time : 334.806 us[0m +188.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074869 ms (missed cycles : 2).[0m +188.82sWARNros2_control_nodeOverrun might occur, Total time : 2439.644 us (Expected < 1666.667 us) --> Read time : 133.882 us, Update time : 1907.895 us, Write time : 397.867 us[0m +189.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212500 ms (missed cycles : 2).[0m +189.83sWARNros2_control_nodeOverrun might occur, Total time : 3149.836 us (Expected < 1666.667 us) --> Read time : 220.444 us, Update time : 2584.846 us, Write time : 344.546 us[0m +190.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677585 ms (missed cycles : 3).[0m +191.25sWARNros2_control_nodeOverrun might occur, Total time : 1880.994 us (Expected < 1666.667 us) --> Read time : 602.641 us, Update time : 220.914 us, Write time : 1057.439 us[0m +191.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916411 ms (missed cycles : 2).[0m +192.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523007 ms (missed cycles : 2).[0m +192.80sWARNros2_control_nodeOverrun might occur, Total time : 6474.517 us (Expected < 1666.667 us) --> Read time : 123.782 us, Update time : 5960.258 us, Write time : 390.477 us[0m +193.31sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +193.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.085005 ms (missed cycles : 10).[0m +193.81sWARNros2_control_nodeOverrun might occur, Total time : 3373.791 us (Expected < 1666.667 us) --> Read time : 177.963 us, Update time : 259.615 us, Write time : 2936.213 us[0m +193.93sINFOobjective_server_nodePlanning for 51 path waypoints. +194.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.503013 ms (missed cycles : 6).[0m +195.32sWARNros2_control_nodeOverrun might occur, Total time : 2372.612 us (Expected < 1666.667 us) --> Read time : 137.862 us, Update time : 1804.643 us, Write time : 430.107 us[0m +195.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911905 ms (missed cycles : 2).[0m +196.73sWARNros2_control_nodeOverrun might occur, Total time : 1955.896 us (Expected < 1666.667 us) --> Read time : 134.543 us, Update time : 1486.837 us, Write time : 334.516 us[0m +196.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687745 ms (missed cycles : 3).[0m +197.71sWARNros2_control_nodeOverrun might occur, Total time : 1711.470 us (Expected < 1666.667 us) --> Read time : 179.493 us, Update time : 860.925 us, Write time : 671.052 us[0m +197.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512031 ms (missed cycles : 2).[0m +198.99sWARNros2_control_nodeOverrun might occur, Total time : 1673.020 us (Expected < 1666.667 us) --> Read time : 151.703 us, Update time : 1185.871 us, Write time : 335.446 us[0m +198.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963825 ms (missed cycles : 2).[0m +200.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424132 ms (missed cycles : 3).[0m +200.26sWARNros2_control_nodeOverrun might occur, Total time : 5473.908 us (Expected < 1666.667 us) --> Read time : 142.583 us, Update time : 4824.246 us, Write time : 507.079 us[0m +201.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696552 ms (missed cycles : 2).[0m +201.61sWARNros2_control_nodeOverrun might occur, Total time : 8004.763 us (Expected < 1666.667 us) --> Read time : 129.032 us, Update time : 7478.954 us, Write time : 396.777 us[0m +202.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206731 ms (missed cycles : 4).[0m +202.76sWARNros2_control_nodeOverrun might occur, Total time : 7301.082 us (Expected < 1666.667 us) --> Read time : 120.793 us, Update time : 6770.052 us, Write time : 410.237 us[0m +203.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299595 ms (missed cycles : 3).[0m +203.51sINFOros2_control_nodeMuJoCo sim: 0.80% of iterations over time budget. Below 1% expected for non-realtime.[0m +204.09sWARNros2_control_nodeOverrun might occur, Total time : 4424.620 us (Expected < 1666.667 us) --> Read time : 136.743 us, Update time : 838.715 us, Write time : 3449.162 us[0m +204.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554410 ms (missed cycles : 3).[0m +205.33sWARNros2_control_nodeOverrun might occur, Total time : 3384.501 us (Expected < 1666.667 us) --> Read time : 156.723 us, Update time : 511.269 us, Write time : 2716.509 us[0m +205.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595841 ms (missed cycles : 3).[0m +206.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838499 ms (missed cycles : 2).[0m +206.41sWARNros2_control_nodeOverrun might occur, Total time : 2116.318 us (Expected < 1666.667 us) --> Read time : 358.126 us, Update time : 1434.716 us, Write time : 323.476 us[0m +207.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051117 ms (missed cycles : 2).[0m +207.53sWARNros2_control_nodeOverrun might occur, Total time : 2083.637 us (Expected < 1666.667 us) --> Read time : 182.963 us, Update time : 1546.998 us, Write time : 353.676 us[0m +208.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847802 ms (missed cycles : 5).[0m +209.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.814114 ms (missed cycles : 5).[0m +209.66sWARNros2_control_nodeOverrun might occur, Total time : 2707.249 us (Expected < 1666.667 us) --> Read time : 121.532 us, Update time : 2258.321 us, Write time : 327.396 us[0m +210.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311743 ms (missed cycles : 2).[0m +211.18sWARNros2_control_nodeOverrun might occur, Total time : 4775.255 us (Expected < 1666.667 us) --> Read time : 181.193 us, Update time : 76.581 us, Write time : 4517.481 us[0m +211.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374488 ms (missed cycles : 2).[0m +212.44sWARNros2_control_nodeOverrun might occur, Total time : 4611.373 us (Expected < 1666.667 us) --> Read time : 161.093 us, Update time : 4014.012 us, Write time : 436.268 us[0m +212.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057616 ms (missed cycles : 4).[0m +213.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006955 ms (missed cycles : 4).[0m +213.88sWARNros2_control_nodeOverrun might occur, Total time : 5232.343 us (Expected < 1666.667 us) --> Read time : 4704.984 us, Update time : 133.972 us, Write time : 393.387 us[0m +214.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863745 ms (missed cycles : 2).[0m +214.90sWARNros2_control_nodeOverrun might occur, Total time : 2968.333 us (Expected < 1666.667 us) --> Read time : 153.083 us, Update time : 2429.463 us, Write time : 385.787 us[0m +215.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975080 ms (missed cycles : 2).[0m +216.19sWARNros2_control_nodeOverrun might occur, Total time : 3438.271 us (Expected < 1666.667 us) --> Read time : 151.852 us, Update time : 2948.763 us, Write time : 337.656 us[0m +216.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785329 ms (missed cycles : 3).[0m +217.39sWARNros2_control_nodeOverrun might occur, Total time : 3317.689 us (Expected < 1666.667 us) --> Read time : 164.153 us, Update time : 2811.780 us, Write time : 341.756 us[0m +217.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.538385 ms (missed cycles : 6).[0m +218.56sWARNros2_control_nodeOverrun might occur, Total time : 2133.678 us (Expected < 1666.667 us) --> Read time : 882.026 us, Update time : 762.953 us, Write time : 488.699 us[0m +219.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770913 ms (missed cycles : 2).[0m +220.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026169 ms (missed cycles : 2).[0m +220.21sWARNros2_control_nodeOverrun might occur, Total time : 2035.587 us (Expected < 1666.667 us) --> Read time : 207.844 us, Update time : 1135.940 us, Write time : 691.803 us[0m +221.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914701 ms (missed cycles : 2).[0m +221.41sWARNros2_control_nodeOverrun might occur, Total time : 3985.701 us (Expected < 1666.667 us) --> Read time : 569.450 us, Update time : 2989.924 us, Write time : 426.327 us[0m +222.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551325 ms (missed cycles : 3).[0m +222.61sWARNros2_control_nodeOverrun might occur, Total time : 1696.111 us (Expected < 1666.667 us) --> Read time : 283.485 us, Update time : 155.893 us, Write time : 1256.733 us[0m +223.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968849 ms (missed cycles : 5).[0m +224.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522611 ms (missed cycles : 3).[0m +224.78sWARNros2_control_nodeOverrun might occur, Total time : 3180.257 us (Expected < 1666.667 us) --> Read time : 108.882 us, Update time : 2705.198 us, Write time : 366.177 us[0m +225.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.787815 ms (missed cycles : 6).[0m +226.21sWARNros2_control_nodeOverrun might occur, Total time : 11542.596 us (Expected < 1666.667 us) --> Read time : 112.672 us, Update time : 11023.237 us, Write time : 406.687 us[0m +226.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221473 ms (missed cycles : 2).[0m +227.37sWARNros2_control_nodeOverrun might occur, Total time : 2621.697 us (Expected < 1666.667 us) --> Read time : 133.473 us, Update time : 1876.383 us, Write time : 611.841 us[0m +227.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850615 ms (missed cycles : 2).[0m +228.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454499 ms (missed cycles : 3).[0m +228.45sWARNros2_control_nodeOverrun might occur, Total time : 1834.863 us (Expected < 1666.667 us) --> Read time : 132.292 us, Update time : 146.123 us, Write time : 1556.448 us[0m +229.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335267 ms (missed cycles : 3).[0m +229.78sWARNros2_control_nodeOverrun might occur, Total time : 6610.768 us (Expected < 1666.667 us) --> Read time : 178.663 us, Update time : 5885.545 us, Write time : 546.560 us[0m +230.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.527835 ms (missed cycles : 7).[0m +231.03sWARNros2_control_nodeOverrun might occur, Total time : 1727.341 us (Expected < 1666.667 us) --> Read time : 188.653 us, Update time : 1021.488 us, Write time : 517.200 us[0m +231.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243971 ms (missed cycles : 2).[0m +232.12sWARNros2_control_nodeOverrun might occur, Total time : 1801.763 us (Expected < 1666.667 us) --> Read time : 690.033 us, Update time : 157.052 us, Write time : 954.678 us[0m +232.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450148 ms (missed cycles : 4).[0m +233.54sWARNros2_control_nodeOverrun might occur, Total time : 5857.824 us (Expected < 1666.667 us) --> Read time : 125.212 us, Update time : 5272.234 us, Write time : 460.378 us[0m +233.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979918 ms (missed cycles : 3).[0m +234.57sWARNros2_control_nodeOverrun might occur, Total time : 2007.386 us (Expected < 1666.667 us) --> Read time : 131.162 us, Update time : 1527.008 us, Write time : 349.216 us[0m +234.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.293755 ms (missed cycles : 4).[0m +235.79sWARNros2_control_nodeOverrun might occur, Total time : 1712.680 us (Expected < 1666.667 us) --> Read time : 158.413 us, Update time : 1187.721 us, Write time : 366.546 us[0m +235.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951841 ms (missed cycles : 2).[0m +236.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401718 ms (missed cycles : 4).[0m +237.39sWARNros2_control_nodeOverrun might occur, Total time : 1909.533 us (Expected < 1666.667 us) --> Read time : 155.662 us, Update time : 1407.285 us, Write time : 346.586 us[0m +237.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307002 ms (missed cycles : 2).[0m +238.69sWARNros2_control_nodeOverrun might occur, Total time : 1996.106 us (Expected < 1666.667 us) --> Read time : 158.502 us, Update time : 1430.876 us, Write time : 406.728 us[0m +239.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374103 ms (missed cycles : 2).[0m +240.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677152 ms (missed cycles : 2).[0m +240.13sWARNros2_control_nodeOverrun might occur, Total time : 4915.888 us (Expected < 1666.667 us) --> Read time : 139.162 us, Update time : 4320.018 us, Write time : 456.708 us[0m +241.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920745 ms (missed cycles : 2).[0m +241.14sWARNros2_control_nodeOverrun might occur, Total time : 3011.533 us (Expected < 1666.667 us) --> Read time : 125.842 us, Update time : 1192.151 us, Write time : 1693.540 us[0m +242.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174091 ms (missed cycles : 2).[0m +242.93sWARNros2_control_nodeOverrun might occur, Total time : 2171.799 us (Expected < 1666.667 us) --> Read time : 131.182 us, Update time : 272.365 us, Write time : 1768.252 us[0m +243.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087635 ms (missed cycles : 3).[0m +244.22sWARNros2_control_nodeOverrun might occur, Total time : 3329.830 us (Expected < 1666.667 us) --> Read time : 120.622 us, Update time : 2878.572 us, Write time : 330.636 us[0m +244.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625362 ms (missed cycles : 3).[0m +245.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664962 ms (missed cycles : 3).[0m +245.88sWARNros2_control_nodeOverrun might occur, Total time : 4023.412 us (Expected < 1666.667 us) --> Read time : 3551.604 us, Update time : 152.123 us, Write time : 319.685 us[0m +246.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.328430 ms (missed cycles : 5).[0m +247.33sWARNros2_control_nodeOverrun might occur, Total time : 2988.343 us (Expected < 1666.667 us) --> Read time : 138.382 us, Update time : 2527.815 us, Write time : 322.146 us[0m +247.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027785 ms (missed cycles : 5).[0m +248.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270057 ms (missed cycles : 2).[0m +248.52sWARNros2_control_nodeOverrun might occur, Total time : 1714.761 us (Expected < 1666.667 us) --> Read time : 121.202 us, Update time : 1271.003 us, Write time : 322.556 us[0m +249.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477506 ms (missed cycles : 3).[0m +249.61sWARNros2_control_nodeOverrun might occur, Total time : 1969.705 us (Expected < 1666.667 us) --> Read time : 191.584 us, Update time : 72.951 us, Write time : 1705.170 us[0m +250.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231581 ms (missed cycles : 2).[0m +250.70sWARNros2_control_nodeOverrun might occur, Total time : 1794.472 us (Expected < 1666.667 us) --> Read time : 119.732 us, Update time : 1282.143 us, Write time : 392.597 us[0m +251.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103329 ms (missed cycles : 2).[0m +252.25sWARNros2_control_nodeOverrun might occur, Total time : 3057.975 us (Expected < 1666.667 us) --> Read time : 104.822 us, Update time : 131.982 us, Write time : 2821.171 us[0m +252.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925847 ms (missed cycles : 3).[0m +253.52sWARNros2_control_nodeOverrun might occur, Total time : 1699.590 us (Expected < 1666.667 us) --> Read time : 157.182 us, Update time : 372.217 us, Write time : 1170.191 us[0m +253.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243316 ms (missed cycles : 3).[0m +254.41sINFOros2_control_nodeGot request to cancel goal[0m ×2 +254.41sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +254.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1781205709.09077001 seconds +254.48sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781205709.12294650 seconds. +254.53sWARNros2_control_nodeOverrun might occur, Total time : 1954.965 us (Expected < 1666.667 us) --> Read time : 120.092 us, Update time : 1264.183 us, Write time : 570.690 us[0m +254.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631455 ms (missed cycles : 3).[0m +255.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338710 ms (missed cycles : 3).[0m +256.08sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +256.17sWARNros2_control_nodeOverrun might occur, Total time : 2961.783 us (Expected < 1666.667 us) --> Read time : 146.333 us, Update time : 2483.044 us, Write time : 332.406 us[0m +256.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158028 ms (missed cycles : 2).[0m +257.26sWARNros2_control_nodeOverrun might occur, Total time : 2632.057 us (Expected < 1666.667 us) --> Read time : 162.993 us, Update time : 2139.008 us, Write time : 330.056 us[0m +257.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770140 ms (missed cycles : 3).[0m +258.27sWARNros2_control_nodeOverrun might occur, Total time : 3722.006 us (Expected < 1666.667 us) --> Read time : 161.523 us, Update time : 3174.866 us, Write time : 385.617 us[0m +258.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484880 ms (missed cycles : 3).[0m +259.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696301 ms (missed cycles : 2).[0m +260.05sWARNros2_control_nodeOverrun might occur, Total time : 3747.977 us (Expected < 1666.667 us) --> Read time : 175.563 us, Update time : 3237.348 us, Write time : 335.066 us[0m +260.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306963 ms (missed cycles : 2).[0m +261.59sWARNros2_control_nodeOverrun might occur, Total time : 3448.082 us (Expected < 1666.667 us) --> Read time : 143.363 us, Update time : 2961.203 us, Write time : 343.516 us[0m +261.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612752 ms (missed cycles : 4).[0m +262.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345582 ms (missed cycles : 3).[0m +263.05sWARNros2_control_nodeOverrun might occur, Total time : 3195.027 us (Expected < 1666.667 us) --> Read time : 125.532 us, Update time : 2695.598 us, Write time : 373.897 us[0m +263.51sINFOros2_control_nodeMuJoCo sim: 0.96% of iterations over time budget. Below 1% expected for non-realtime.[0m +263.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.582480 ms (missed cycles : 6).[0m +264.75sWARNros2_control_nodeOverrun might occur, Total time : 3645.465 us (Expected < 1666.667 us) --> Read time : 106.382 us, Update time : 3206.617 us, Write time : 332.466 us[0m +264.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781205719.62628198 seconds +264.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453495 ms (missed cycles : 3).[0m +265.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781205720.17728567 seconds. +265.88sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). +265.95sWARNros2_control_nodeOverrun might occur, Total time : 4465.270 us (Expected < 1666.667 us) --> Read time : 3881.490 us, Update time : 146.782 us, Write time : 436.998 us[0m +266.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451359 ms (missed cycles : 2).[0m +267.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.571673 ms (missed cycles : 6).[0m +267.13sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 +267.26sWARNros2_control_nodeOverrun might occur, Total time : 4098.903 us (Expected < 1666.667 us) --> Read time : 137.542 us, Update time : 81.282 us, Write time : 3880.079 us[0m +268.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875399 ms (missed cycles : 5).[0m +268.54sWARNros2_control_nodeOverrun might occur, Total time : 1800.573 us (Expected < 1666.667 us) --> Read time : 152.083 us, Update time : 178.333 us, Write time : 1470.157 us[0m +269.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523861 ms (missed cycles : 2).[0m +269.63sWARNros2_control_nodeOverrun might occur, Total time : 1682.340 us (Expected < 1666.667 us) --> Read time : 136.413 us, Update time : 668.112 us, Write time : 877.815 us[0m +270.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940434 ms (missed cycles : 5).[0m +270.74sWARNros2_control_nodeOverrun might occur, Total time : 1748.642 us (Expected < 1666.667 us) --> Read time : 833.935 us, Update time : 356.346 us, Write time : 558.361 us[0m +271.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966244 ms (missed cycles : 4).[0m +272.10sWARNros2_control_nodeOverrun might occur, Total time : 4511.581 us (Expected < 1666.667 us) --> Read time : 132.643 us, Update time : 3966.690 us, Write time : 412.248 us[0m +272.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244260 ms (missed cycles : 4).[0m +273.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427061 ms (missed cycles : 3).[0m +273.23sWARNros2_control_nodeOverrun might occur, Total time : 1695.639 us (Expected < 1666.667 us) --> Read time : 132.752 us, Update time : 469.788 us, Write time : 1093.099 us[0m +274.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188072 ms (missed cycles : 3).[0m +274.42sWARNros2_control_nodeOverrun might occur, Total time : 1789.412 us (Expected < 1666.667 us) --> Read time : 168.393 us, Update time : 232.154 us, Write time : 1388.865 us[0m +275.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841070 ms (missed cycles : 3).[0m +275.43sWARNros2_control_nodeOverrun might occur, Total time : 2307.082 us (Expected < 1666.667 us) --> Read time : 184.924 us, Update time : 758.873 us, Write time : 1363.285 us[0m +276.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497446 ms (missed cycles : 3).[0m +276.46sWARNros2_control_nodeOverrun might occur, Total time : 2100.998 us (Expected < 1666.667 us) --> Read time : 134.502 us, Update time : 153.053 us, Write time : 1813.443 us[0m +277.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719877 ms (missed cycles : 6).[0m +278.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179346 ms (missed cycles : 2).[0m +279.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863190 ms (missed cycles : 2).[0m +279.58sWARNros2_control_nodeOverrun might occur, Total time : 5762.464 us (Expected < 1666.667 us) --> Read time : 195.044 us, Update time : 119.702 us, Write time : 5447.718 us[0m +280.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942109 ms (missed cycles : 2).[0m +280.76sWARNros2_control_nodeOverrun might occur, Total time : 6084.659 us (Expected < 1666.667 us) --> Read time : 117.912 us, Update time : 114.932 us, Write time : 5851.815 us[0m +281.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678794 ms (missed cycles : 3).[0m +281.86sWARNros2_control_nodeOverrun might occur, Total time : 4855.677 us (Expected < 1666.667 us) --> Read time : 131.342 us, Update time : 4335.568 us, Write time : 388.767 us[0m +282.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.800674 ms (missed cycles : 6).[0m +283.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791335 ms (missed cycles : 3).[0m +283.74sWARNros2_control_nodeOverrun might occur, Total time : 3162.906 us (Expected < 1666.667 us) --> Read time : 134.202 us, Update time : 2634.297 us, Write time : 394.407 us[0m +284.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912731 ms (missed cycles : 2).[0m +285.58sWARNros2_control_nodeOverrun might occur, Total time : 2586.177 us (Expected < 1666.667 us) --> Read time : 184.374 us, Update time : 361.516 us, Write time : 2040.287 us[0m +285.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853488 ms (missed cycles : 4).[0m +286.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267008 ms (missed cycles : 2).[0m +286.79sWARNros2_control_nodeOverrun might occur, Total time : 3410.101 us (Expected < 1666.667 us) --> Read time : 176.183 us, Update time : 476.469 us, Write time : 2757.449 us[0m +287.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091165 ms (missed cycles : 4).[0m +288.15sWARNros2_control_nodeOverrun might occur, Total time : 1914.485 us (Expected < 1666.667 us) --> Read time : 161.383 us, Update time : 1367.785 us, Write time : 385.317 us[0m +288.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053149 ms (missed cycles : 3).[0m +289.33sWARNros2_control_nodeOverrun might occur, Total time : 4814.106 us (Expected < 1666.667 us) --> Read time : 131.573 us, Update time : 4321.507 us, Write time : 361.026 us[0m +289.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646494 ms (missed cycles : 3).[0m +290.52sWARNros2_control_nodeOverrun might occur, Total time : 4082.583 us (Expected < 1666.667 us) --> Read time : 106.922 us, Update time : 3539.013 us, Write time : 436.648 us[0m +290.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.803777 ms (missed cycles : 5).[0m +291.83sWARNros2_control_nodeOverrun might occur, Total time : 1920.545 us (Expected < 1666.667 us) --> Read time : 106.752 us, Update time : 1499.277 us, Write time : 314.516 us[0m +291.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513096 ms (missed cycles : 2).[0m +293.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.917805 ms (missed cycles : 11).[0m +293.39sWARNros2_control_nodeOverrun might occur, Total time : 2385.912 us (Expected < 1666.667 us) --> Read time : 216.524 us, Update time : 151.093 us, Write time : 2018.295 us[0m +294.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096456 ms (missed cycles : 2).[0m +294.79sWARNros2_control_nodeOverrun might occur, Total time : 2302.511 us (Expected < 1666.667 us) --> Read time : 1391.385 us, Update time : 331.056 us, Write time : 580.070 us[0m +295.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606327 ms (missed cycles : 3).[0m +295.36sINFOobjective_server_nodePlanning for 33 path waypoints. +296.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954303 ms (missed cycles : 2).[0m +296.28sWARNros2_control_nodeOverrun might occur, Total time : 2151.378 us (Expected < 1666.667 us) --> Read time : 1135.220 us, Update time : 712.013 us, Write time : 304.145 us[0m +297.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473260 ms (missed cycles : 3).[0m +297.32sWARNros2_control_nodeOverrun might occur, Total time : 1685.809 us (Expected < 1666.667 us) --> Read time : 138.592 us, Update time : 1235.032 us, Write time : 312.185 us[0m +298.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994411 ms (missed cycles : 2).[0m +298.40sWARNros2_control_nodeOverrun might occur, Total time : 2558.746 us (Expected < 1666.667 us) --> Read time : 189.964 us, Update time : 1896.244 us, Write time : 472.538 us[0m +299.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102822 ms (missed cycles : 4).[0m +300.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711888 ms (missed cycles : 2).[0m +300.74sWARNros2_control_nodeOverrun might occur, Total time : 2222.719 us (Expected < 1666.667 us) --> Read time : 188.313 us, Update time : 311.796 us, Write time : 1722.610 us[0m +301.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730175 ms (missed cycles : 2).[0m +301.79sWARNros2_control_nodeOverrun might occur, Total time : 2381.082 us (Expected < 1666.667 us) --> Read time : 136.882 us, Update time : 159.133 us, Write time : 2085.067 us[0m +302.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599732 ms (missed cycles : 6).[0m +303.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653855 ms (missed cycles : 2).[0m +304.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147072 ms (missed cycles : 5).[0m +304.74sWARNros2_control_nodeOverrun might occur, Total time : 3241.978 us (Expected < 1666.667 us) --> Read time : 140.002 us, Update time : 2780.030 us, Write time : 321.946 us[0m +305.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077089 ms (missed cycles : 2).[0m +306.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935494 ms (missed cycles : 2).[0m +307.30sWARNros2_control_nodeOverrun might occur, Total time : 2776.929 us (Expected < 1666.667 us) --> Read time : 141.772 us, Update time : 2273.991 us, Write time : 361.166 us[0m +307.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819143 ms (missed cycles : 2).[0m +308.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980875 ms (missed cycles : 5).[0m +308.78sWARNros2_control_nodeOverrun might occur, Total time : 4888.658 us (Expected < 1666.667 us) --> Read time : 219.324 us, Update time : 4252.176 us, Write time : 417.158 us[0m +309.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945370 ms (missed cycles : 3).[0m +309.81sWARNros2_control_nodeOverrun might occur, Total time : 6198.541 us (Expected < 1666.667 us) --> Read time : 209.084 us, Update time : 5587.800 us, Write time : 401.657 us[0m +310.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192221 ms (missed cycles : 4).[0m +310.95sWARNros2_control_nodeOverrun might occur, Total time : 3793.948 us (Expected < 1666.667 us) --> Read time : 162.623 us, Update time : 3335.720 us, Write time : 295.605 us[0m +310.97sINFOobjective_server_nodePlanning for 44 path waypoints. +311.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271926 ms (missed cycles : 4).[0m +312.13sWARNros2_control_nodeOverrun might occur, Total time : 2957.953 us (Expected < 1666.667 us) --> Read time : 172.253 us, Update time : 2425.514 us, Write time : 360.186 us[0m +312.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441177 ms (missed cycles : 3).[0m +313.36sWARNros2_control_nodeOverrun might occur, Total time : 3225.818 us (Expected < 1666.667 us) --> Read time : 125.502 us, Update time : 2685.108 us, Write time : 415.208 us[0m +313.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055006 ms (missed cycles : 5).[0m +314.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491627 ms (missed cycles : 2).[0m +315.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.725997 ms (missed cycles : 6).[0m +316.17sWARNros2_control_nodeOverrun might occur, Total time : 6325.463 us (Expected < 1666.667 us) --> Read time : 135.462 us, Update time : 5787.274 us, Write time : 402.727 us[0m +316.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440648 ms (missed cycles : 3).[0m +317.51sWARNros2_control_nodeOverrun might occur, Total time : 1975.525 us (Expected < 1666.667 us) --> Read time : 124.532 us, Update time : 1546.898 us, Write time : 304.095 us[0m +317.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599217 ms (missed cycles : 3).[0m +318.52sWARNros2_control_nodeOverrun might occur, Total time : 2079.777 us (Expected < 1666.667 us) --> Read time : 190.723 us, Update time : 136.303 us, Write time : 1752.751 us[0m +318.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800992 ms (missed cycles : 2).[0m +319.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881030 ms (missed cycles : 2).[0m +320.07sWARNros2_control_nodeOverrun might occur, Total time : 2561.166 us (Expected < 1666.667 us) --> Read time : 158.743 us, Update time : 2011.286 us, Write time : 391.137 us[0m +320.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623630 ms (missed cycles : 3).[0m +321.24sWARNros2_control_nodeOverrun might occur, Total time : 2812.611 us (Expected < 1666.667 us) --> Read time : 160.683 us, Update time : 576.401 us, Write time : 2075.527 us[0m +321.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700191 ms (missed cycles : 2).[0m +322.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807600 ms (missed cycles : 3).[0m +323.22sINFOobjective_server_nodePlanning for 26 path waypoints. +323.26sWARNros2_control_nodeOverrun might occur, Total time : 2566.616 us (Expected < 1666.667 us) --> Read time : 191.744 us, Update time : 2037.996 us, Write time : 336.876 us[0m +323.51sINFOros2_control_nodeMuJoCo sim: 1.09% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +324.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713105 ms (missed cycles : 3).[0m +325.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678219 ms (missed cycles : 2).[0m +325.17sWARNros2_control_nodeOverrun might occur, Total time : 2974.753 us (Expected < 1666.667 us) --> Read time : 182.253 us, Update time : 152.363 us, Write time : 2640.137 us[0m +326.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202033 ms (missed cycles : 5).[0m +326.97sWARNros2_control_nodeOverrun might occur, Total time : 5065.410 us (Expected < 1666.667 us) --> Read time : 169.883 us, Update time : 4424.369 us, Write time : 471.158 us[0m +327.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499141 ms (missed cycles : 3).[0m +328.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185124 ms (missed cycles : 5).[0m +328.39sWARNros2_control_nodeOverrun might occur, Total time : 1896.304 us (Expected < 1666.667 us) --> Read time : 154.883 us, Update time : 1460.146 us, Write time : 281.275 us[0m +329.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721464 ms (missed cycles : 3).[0m +329.82sWARNros2_control_nodeOverrun might occur, Total time : 1699.020 us (Expected < 1666.667 us) --> Read time : 145.822 us, Update time : 1066.519 us, Write time : 486.679 us[0m +330.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910407 ms (missed cycles : 2).[0m +331.35sWARNros2_control_nodeOverrun might occur, Total time : 5003.569 us (Expected < 1666.667 us) --> Read time : 130.442 us, Update time : 4368.318 us, Write time : 504.809 us[0m +331.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225322 ms (missed cycles : 4).[0m +332.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759253 ms (missed cycles : 2).[0m +332.37sWARNros2_control_nodeOverrun might occur, Total time : 4141.443 us (Expected < 1666.667 us) --> Read time : 116.492 us, Update time : 3712.416 us, Write time : 312.535 us[0m +333.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833669 ms (missed cycles : 2).[0m +333.70sWARNros2_control_nodeOverrun might occur, Total time : 2898.582 us (Expected < 1666.667 us) --> Read time : 152.083 us, Update time : 2410.303 us, Write time : 336.196 us[0m +334.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.046978 ms (missed cycles : 5).[0m +334.61sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781205789.25745940 seconds +334.74sWARNros2_control_nodeOverrun might occur, Total time : 3360.750 us (Expected < 1666.667 us) --> Read time : 136.082 us, Update time : 110.462 us, Write time : 3114.206 us[0m +335.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781205789.81573367 seconds. +335.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193092 ms (missed cycles : 4).[0m +335.57sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). +336.48sWARNros2_control_nodeOverrun might occur, Total time : 1700.371 us (Expected < 1666.667 us) --> Read time : 136.353 us, Update time : 635.301 us, Write time : 928.717 us[0m +336.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609283 ms (missed cycles : 3).[0m +337.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680087 ms (missed cycles : 5).[0m +338.21sWARNros2_control_nodeOverrun might occur, Total time : 2081.017 us (Expected < 1666.667 us) --> Read time : 195.003 us, Update time : 152.473 us, Write time : 1733.541 us[0m +338.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026510 ms (missed cycles : 5).[0m +339.30sWARNros2_control_nodeOverrun might occur, Total time : 2473.324 us (Expected < 1666.667 us) --> Read time : 170.493 us, Update time : 1889.693 us, Write time : 413.138 us[0m +339.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933558 ms (missed cycles : 2).[0m +340.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702504 ms (missed cycles : 3).[0m +340.67sWARNros2_control_nodeOverrun might occur, Total time : 2283.471 us (Expected < 1666.667 us) --> Read time : 132.752 us, Update time : 1742.521 us, Write time : 408.198 us[0m +341.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797560 ms (missed cycles : 3).[0m +341.86sWARNros2_control_nodeOverrun might occur, Total time : 2011.135 us (Expected < 1666.667 us) --> Read time : 265.874 us, Update time : 1354.885 us, Write time : 390.376 us[0m +342.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157754 ms (missed cycles : 2).[0m +343.63sWARNros2_control_nodeOverrun might occur, Total time : 3236.017 us (Expected < 1666.667 us) --> Read time : 423.177 us, Update time : 2468.544 us, Write time : 344.296 us[0m +343.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642605 ms (missed cycles : 3).[0m +344.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001884 ms (missed cycles : 2).[0m +345.63sWARNros2_control_nodeOverrun might occur, Total time : 3181.556 us (Expected < 1666.667 us) --> Read time : 155.713 us, Update time : 2569.255 us, Write time : 456.588 us[0m +345.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646234 ms (missed cycles : 6).[0m +346.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290291 ms (missed cycles : 2).[0m +346.89sWARNros2_control_nodeOverrun might occur, Total time : 2203.819 us (Expected < 1666.667 us) --> Read time : 211.514 us, Update time : 197.413 us, Write time : 1794.892 us[0m +347.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910463 ms (missed cycles : 2).[0m +348.22sWARNros2_control_nodeOverrun might occur, Total time : 1807.973 us (Expected < 1666.667 us) --> Read time : 165.623 us, Update time : 173.943 us, Write time : 1468.407 us[0m +348.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381534 ms (missed cycles : 4).[0m +349.53sWARNros2_control_nodeOverrun might occur, Total time : 3108.556 us (Expected < 1666.667 us) --> Read time : 179.074 us, Update time : 275.084 us, Write time : 2654.398 us[0m +350.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734226 ms (missed cycles : 2).[0m +350.69sWARNros2_control_nodeOverrun might occur, Total time : 3219.487 us (Expected < 1666.667 us) --> Read time : 700.102 us, Update time : 1103.830 us, Write time : 1415.555 us[0m +351.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302908 ms (missed cycles : 2).[0m +352.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847925 ms (missed cycles : 5).[0m +352.68sWARNros2_control_nodeOverrun might occur, Total time : 1756.292 us (Expected < 1666.667 us) --> Read time : 262.265 us, Update time : 1018.818 us, Write time : 475.209 us[0m +353.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039415 ms (missed cycles : 5).[0m +353.84sWARNros2_control_nodeOverrun might occur, Total time : 2007.416 us (Expected < 1666.667 us) --> Read time : 162.593 us, Update time : 161.783 us, Write time : 1683.040 us[0m +354.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788687 ms (missed cycles : 2).[0m +355.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.488468 ms (missed cycles : 6).[0m +356.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184758 ms (missed cycles : 2).[0m +356.38sWARNros2_control_nodeOverrun might occur, Total time : 3866.569 us (Expected < 1666.667 us) --> Read time : 3260.458 us, Update time : 202.414 us, Write time : 403.697 us[0m +357.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771774 ms (missed cycles : 2).[0m +357.87sWARNros2_control_nodeOverrun might occur, Total time : 1858.703 us (Expected < 1666.667 us) --> Read time : 159.763 us, Update time : 722.253 us, Write time : 976.687 us[0m +358.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012292 ms (missed cycles : 3).[0m +358.91sWARNros2_control_nodeOverrun might occur, Total time : 4030.472 us (Expected < 1666.667 us) --> Read time : 121.762 us, Update time : 3515.473 us, Write time : 393.237 us[0m +359.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.525953 ms (missed cycles : 6).[0m +360.24sWARNros2_control_nodeOverrun might occur, Total time : 3669.555 us (Expected < 1666.667 us) --> Read time : 683.873 us, Update time : 198.153 us, Write time : 2787.529 us[0m +360.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.337027 ms (missed cycles : 6).[0m +361.35sWARNros2_control_nodeOverrun might occur, Total time : 2316.052 us (Expected < 1666.667 us) --> Read time : 203.354 us, Update time : 1143.280 us, Write time : 969.418 us[0m +361.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420422 ms (missed cycles : 4).[0m +362.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707656 ms (missed cycles : 2).[0m +362.77sWARNros2_control_nodeOverrun might occur, Total time : 4164.423 us (Expected < 1666.667 us) --> Read time : 116.482 us, Update time : 3680.815 us, Write time : 367.126 us[0m +363.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752727 ms (missed cycles : 2).[0m +364.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778576 ms (missed cycles : 3).[0m +364.69sWARNros2_control_nodeOverrun might occur, Total time : 2401.183 us (Expected < 1666.667 us) --> Read time : 143.052 us, Update time : 1180.981 us, Write time : 1077.150 us[0m +365.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115253 ms (missed cycles : 2).[0m +366.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906125 ms (missed cycles : 3).[0m +367.43sWARNros2_control_nodeOverrun might occur, Total time : 1919.945 us (Expected < 1666.667 us) --> Read time : 160.963 us, Update time : 1340.764 us, Write time : 418.218 us[0m +367.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.692025 ms (missed cycles : 6).[0m +368.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952668 ms (missed cycles : 2).[0m +369.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008715 ms (missed cycles : 5).[0m +370.37sWARNros2_control_nodeOverrun might occur, Total time : 2483.974 us (Expected < 1666.667 us) --> Read time : 142.753 us, Update time : 2011.056 us, Write time : 330.165 us[0m +370.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482352 ms (missed cycles : 3).[0m +371.61sWARNros2_control_nodeOverrun might occur, Total time : 2324.971 us (Expected < 1666.667 us) --> Read time : 143.053 us, Update time : 1842.892 us, Write time : 339.026 us[0m +371.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872089 ms (missed cycles : 2).[0m +372.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710419 ms (missed cycles : 2).[0m +373.45sWARNros2_control_nodeOverrun might occur, Total time : 7931.422 us (Expected < 1666.667 us) --> Read time : 125.972 us, Update time : 7374.232 us, Write time : 431.218 us[0m +373.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289856 ms (missed cycles : 3).[0m +374.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802659 ms (missed cycles : 3).[0m +374.90sWARNros2_control_nodeOverrun might occur, Total time : 2045.496 us (Expected < 1666.667 us) --> Read time : 125.312 us, Update time : 1439.116 us, Write time : 481.068 us[0m +375.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387905 ms (missed cycles : 2).[0m +375.93sWARNros2_control_nodeOverrun might occur, Total time : 1747.911 us (Expected < 1666.667 us) --> Read time : 142.283 us, Update time : 1253.102 us, Write time : 352.526 us[0m +377.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996594 ms (missed cycles : 2).[0m +377.13sWARNros2_control_nodeOverrun might occur, Total time : 4744.585 us (Expected < 1666.667 us) --> Read time : 145.382 us, Update time : 4218.076 us, Write time : 381.127 us[0m +378.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.285029 ms (missed cycles : 7).[0m +378.48sWARNros2_control_nodeOverrun might occur, Total time : 6564.537 us (Expected < 1666.667 us) --> Read time : 116.652 us, Update time : 6041.187 us, Write time : 406.698 us[0m +379.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667286 ms (missed cycles : 2).[0m +379.64sWARNros2_control_nodeOverrun might occur, Total time : 4814.195 us (Expected < 1666.667 us) --> Read time : 132.152 us, Update time : 4357.348 us, Write time : 324.695 us[0m +380.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967916 ms (missed cycles : 2).[0m +380.99sWARNros2_control_nodeOverrun might occur, Total time : 1979.536 us (Expected < 1666.667 us) --> Read time : 124.122 us, Update time : 1265.193 us, Write time : 590.221 us[0m +381.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068487 ms (missed cycles : 2).[0m +382.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534336 ms (missed cycles : 6).[0m +382.60sWARNros2_control_nodeOverrun might occur, Total time : 2271.880 us (Expected < 1666.667 us) --> Read time : 133.522 us, Update time : 929.947 us, Write time : 1208.411 us[0m +383.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188003 ms (missed cycles : 4).[0m +383.52sINFOros2_control_nodeMuJoCo sim: 1.12% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +384.16sWARNros2_control_nodeOverrun might occur, Total time : 1825.832 us (Expected < 1666.667 us) --> Read time : 1344.894 us, Update time : 149.602 us, Write time : 331.336 us[0m +384.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705197 ms (missed cycles : 2).[0m +385.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788576 ms (missed cycles : 2).[0m +385.63sWARNros2_control_nodeOverrun might occur, Total time : 4670.673 us (Expected < 1666.667 us) --> Read time : 153.513 us, Update time : 4078.662 us, Write time : 438.498 us[0m +386.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635467 ms (missed cycles : 3).[0m +386.88sWARNros2_control_nodeOverrun might occur, Total time : 1917.064 us (Expected < 1666.667 us) --> Read time : 143.302 us, Update time : 1456.506 us, Write time : 317.256 us[0m +387.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391003 ms (missed cycles : 2).[0m +388.30sWARNros2_control_nodeOverrun might occur, Total time : 1718.311 us (Expected < 1666.667 us) --> Read time : 141.003 us, Update time : 119.122 us, Write time : 1458.186 us[0m +388.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991226 ms (missed cycles : 2).[0m +389.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104620 ms (missed cycles : 3).[0m +390.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781205844.75030446 seconds +390.11sWARNros2_control_nodeOverrun might occur, Total time : 4871.957 us (Expected < 1666.667 us) --> Read time : 199.874 us, Update time : 4300.656 us, Write time : 371.427 us[0m +390.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242396 ms (missed cycles : 2).[0m +390.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781205845.30568624 seconds. +390.99sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). +391.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814659 ms (missed cycles : 2).[0m +391.51sWARNros2_control_nodeOverrun might occur, Total time : 2903.791 us (Expected < 1666.667 us) --> Read time : 250.184 us, Update time : 141.822 us, Write time : 2511.785 us[0m +392.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046462 ms (missed cycles : 4).[0m +392.84sWARNros2_control_nodeOverrun might occur, Total time : 1870.853 us (Expected < 1666.667 us) --> Read time : 201.943 us, Update time : 195.094 us, Write time : 1473.816 us[0m +393.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473867 ms (missed cycles : 4).[0m +394.04sWARNros2_control_nodeOverrun might occur, Total time : 1796.893 us (Expected < 1666.667 us) --> Read time : 218.744 us, Update time : 133.163 us, Write time : 1444.986 us[0m +394.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397311 ms (missed cycles : 3).[0m +395.23sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). +395.26sINFOobjective_server_nodePath shortcutter: [X__________________X] +395.29sINFOobjective_server_nodeFound path in 0 iterations (8.2e-07 s). +395.32sINFOobjective_server_nodePath shortcutter: [X____________________X] +395.33sWARNros2_control_nodeOverrun might occur, Total time : 5237.664 us (Expected < 1666.667 us) --> Read time : 146.633 us, Update time : 4669.744 us, Write time : 421.287 us[0m +395.35sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 +395.40sINFOobjective_server_nodePath shortcutter: [X_________________________X] +395.44sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). +395.57sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +395.62sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). +395.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751300 ms (missed cycles : 3).[0m +395.87sINFOobjective_server_nodeFound path in 69 iterations (0.0654483 s). +396.14sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +396.21sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). +396.70sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +396.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.719825 ms (missed cycles : 8).[0m +396.91sWARNros2_control_nodeOverrun might occur, Total time : 1815.713 us (Expected < 1666.667 us) --> Read time : 110.032 us, Update time : 1377.295 us, Write time : 328.386 us[0m +397.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +397.23sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +397.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895587 ms (missed cycles : 2).[0m +398.06sWARNros2_control_nodeOverrun might occur, Total time : 1673.400 us (Expected < 1666.667 us) --> Read time : 184.854 us, Update time : 127.382 us, Write time : 1361.164 us[0m +398.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617937 ms (missed cycles : 3).[0m +399.24sWARNros2_control_nodeOverrun might occur, Total time : 2291.890 us (Expected < 1666.667 us) --> Read time : 310.555 us, Update time : 642.282 us, Write time : 1339.053 us[0m +399.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447203 ms (missed cycles : 4).[0m +400.39sWARNros2_control_nodeOverrun might occur, Total time : 2126.277 us (Expected < 1666.667 us) --> Read time : 247.984 us, Update time : 143.043 us, Write time : 1735.250 us[0m +400.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363133 ms (missed cycles : 3).[0m +401.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719865 ms (missed cycles : 3).[0m +401.96sWARNros2_control_nodeOverrun might occur, Total time : 2016.576 us (Expected < 1666.667 us) --> Read time : 155.883 us, Update time : 914.936 us, Write time : 945.757 us[0m +402.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727019 ms (missed cycles : 2).[0m +402.98sWARNros2_control_nodeOverrun might occur, Total time : 3873.469 us (Expected < 1666.667 us) --> Read time : 133.822 us, Update time : 3422.861 us, Write time : 316.786 us[0m +403.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781205857.87988496 seconds +403.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781205858.46362305 seconds. +403.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002740 ms (missed cycles : 4).[0m +404.17sWARNros2_control_nodeOverrun might occur, Total time : 2430.563 us (Expected < 1666.667 us) --> Read time : 141.763 us, Update time : 1803.541 us, Write time : 485.259 us[0m +404.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781205859.07378054 seconds +404.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354385 ms (missed cycles : 5).[0m +404.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781205859.61285639 seconds. +405.46sWARNros2_control_nodeOverrun might occur, Total time : 2092.837 us (Expected < 1666.667 us) --> Read time : 132.582 us, Update time : 1656.900 us, Write time : 303.355 us[0m +405.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781205860.11301303 seconds +405.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +406.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800705 ms (missed cycles : 3).[0m +406.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616685 ms (missed cycles : 3).[0m +408.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324503 ms (missed cycles : 4).[0m +408.10sWARNros2_control_nodeOverrun might occur, Total time : 2083.017 us (Expected < 1666.667 us) --> Read time : 144.442 us, Update time : 300.066 us, Write time : 1638.509 us[0m +409.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133095 ms (missed cycles : 2).[0m +409.34sWARNros2_control_nodeOverrun might occur, Total time : 2987.113 us (Expected < 1666.667 us) --> Read time : 134.182 us, Update time : 207.494 us, Write time : 2645.437 us[0m +410.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725962 ms (missed cycles : 2).[0m +410.69sWARNros2_control_nodeOverrun might occur, Total time : 3857.078 us (Expected < 1666.667 us) --> Read time : 135.592 us, Update time : 202.224 us, Write time : 3519.262 us[0m +411.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948043 ms (missed cycles : 5).[0m +411.39sERRORweb_video_server-30process[web_video_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.39sERRORtf2_web_republisher_node-29process[tf2_web_republisher_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.39sERRORweb_bridge-28process[web_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.40sERRORui_teleop_bridge-27process[ui_teleop_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.40sERRORexecute_objective_bridge-26process[execute_objective_bridge-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.40sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.41sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.41sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.41sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.42sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.42sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.42sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.43sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.43sINFOweb_video_server-30sending signal 'SIGTERM' to process[web_video_server-30] +411.45sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.45sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.46sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.46sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.47sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.47sINFOtf2_web_republisher_node-29sending signal 'SIGTERM' to process[tf2_web_republisher_node-29] +411.49sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +411.50sINFOweb_bridge-28sending signal 'SIGTERM' to process[web_bridge-28] +411.52sINFOui_teleop_bridge-27sending signal 'SIGTERM' to process[ui_teleop_bridge-27] +411.54sINFOexecute_objective_bridge-26sending signal 'SIGTERM' to process[execute_objective_bridge-26] +411.55sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] +411.57sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] +411.59sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] +411.61sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] +411.63sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] +411.65sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] +411.67sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] +411.70sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] +411.71sINFOweb_video_server-30process has finished cleanly [pid 9416] +411.71sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +411.72sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +411.74sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] +411.74sINFOtf2_web_republisher_node-29process has finished cleanly [pid 9415] +411.74sERRORmove_group-19process has died [pid 9374, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_6946i3x4 --params-file /tmp/launch_params_cvz71nj5 --params-file /tmp/launch_params_8h28ja_1 --params-file /tmp/launch_params_j43dghdt --params-file /tmp/launch_params_t7dpugox --params-file /tmp/launch_params_flg1inph --params-file /tmp/launch_params_9s04v8pn --params-file /tmp/launch_params_uge19kpb --params-file /tmp/launch_params_xnwsxy0l']. +411.76sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] +411.77sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +411.79sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +411.79sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +411.81sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +411.81sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +411.81sERRORui_teleop_bridgeTraceback (most recent call last): +411.81sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +411.81sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) +411.81sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +411.81sINFOui_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 +411.81sINFOui_teleop_bridgerclpy.shutdown() +411.81sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +411.81sINFOui_teleop_bridge_shutdown(context=context) +411.81sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +411.81sINFOui_teleop_bridgecontext.shutdown() +411.81sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +411.81sINFOui_teleop_bridgeself.__context.shutdown() +411.81sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +411.81sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +411.81sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +411.81sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +411.81sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +411.81sINFOcomponent_container_mtStopping planning scene monitor[0m +411.81sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +411.81sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +411.81sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +411.81sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +411.81sERRORmove_groupwhat(): context cannot be slept with because it's invalid +411.81sERRORmove_groupStack trace (most recent call last) in thread 9923: +411.82sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +411.82sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab2a032a63, in __clone +411.82sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab29fa5aa3, in +411.82sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab2a237db3, in +411.82sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7fab2a88c19a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +411.82sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab2a5aa4d0, in rclcpp::Rate::sleep() +411.82sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab2a4fda88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +411.82sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab2a4c2a71, in +411.82sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab2a206390, in __cxa_throw +411.82sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab2a1f0a54, in std::terminate() +411.82sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab2a2060d9, in +411.82sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab2a1f0ff4, in +411.82sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab29f318fe, in abort +411.82sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab29f4e27d, in raise +411.82sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab29fa7b2c, in pthread_kill +411.82sERRORmove_groupAborted (Signal sent by tkill() 9374 0) +411.82sINFOobjective_server_node[2026-06-11 19:24:26.349] [moveit_pro_license] [info] +411.82sINFOobjective_server_node* Application has successfully terminated +411.82sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +411.82sINFOros2_control_nodeShutdown request received....[0m +411.82sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +411.82sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +411.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +411.82sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +411.82sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +411.82sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +411.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +411.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +411.82sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +411.82sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +411.82sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +411.82sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +411.82sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +411.82sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +411.82sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +411.82sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +411.82sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +411.82sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +411.82sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +411.82sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +411.82sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +411.82sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +411.82sINFOros2_control_nodeShutting down the controller manager.[0m +411.82sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +411.82sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 +411.82sINFOlaunchprocess[tf2_web_republisher_node-29] was required: shutting down launched system +411.82sERRORobjective_server_nodeStack trace (most recent call last): +411.83sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +411.83sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56524cc346a4, in _start +411.83sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a543d728a, in __libc_start_main +411.83sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a543d71d0, in +411.83sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a543f4bbd, in exit +411.83sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a543f4a75, in +411.83sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f1a548c64a2, in spdlog::details::registry::~registry() +411.83sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f1a548d169d, 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() +411.83sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f1a548cb965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +411.83sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56524cc3b315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +411.83sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56524cc3a5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +411.83sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56524cc36b7b, in spdlog_ros::RosSink::~RosSink() +411.83sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56524cc34d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +411.83sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a54f49454, in rclcpp::Node::~Node() +411.83sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a54f04515, in +411.83sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a54f47d20, in +411.83sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a54f47c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +411.83sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a54f045d9, in +411.83sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a54f09161, in rclcpp::CallbackGroup::~CallbackGroup() +411.83sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f1a047b6450]) +411.83sERRORodom_qos_relay.pyTraceback (most recent call last): +411.83sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +411.83sINFOodom_qos_relay.pymain() +411.83sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +411.83sINFOodom_qos_relay.pyrclpy.spin(node) +411.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +411.83sINFOodom_qos_relay.pyexecutor.spin_once() +411.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +411.83sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +411.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +411.83sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +411.83sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +411.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +411.83sINFOodom_qos_relay.pyreturn next(self._cb_iter) +411.83sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +411.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +411.83sINFOodom_qos_relay.pyraise ExternalShutdownException() +411.83sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +411.83sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×2 +411.84sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +411.84sERRORobjective_server_node_main-24process has died [pid 9410, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_wg71jirq --params-file /tmp/launch_params_1ksav6qy --params-file /tmp/launch_params_gf9uoh9b --params-file /tmp/launch_params_4k2v5ktb --params-file /tmp/launch_params_fg_nji4x --params-file /tmp/launch_params_egxuv181']. +411.84sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system +411.92sINFOros2_control_nodeAsync messages lost 0[0m ×2 +411.92sINFOros2_control_nodepublish_async_failures_ 2[0m +411.92sINFOros2_control_nodepublish_async_failures_ 3[0m +412.33sERRORcomponent_container_isolated-1process has died [pid 9261, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_40a7anx_ --params-file /tmp/launch_params_2f5fo3i4 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +412.64sERRORui_teleop_bridge-27process has died [pid 9413, 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_wmu0_ef0']. +412.64sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9409] +412.65sINFOexecute_objective_bridge-26process has finished cleanly [pid 9412] +412.67sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9381] +412.71sINFOparameter_manager_node-20process has finished cleanly [pid 9377] +412.74sINFOwaypoint_manager_node-21process has finished cleanly [pid 9380] +412.77sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9266] +412.78sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9265] +412.81sINFOstatic_transform_publisher-3process has finished cleanly [pid 9263] +412.83sINFOstatic_transform_publisher-2process has finished cleanly [pid 9262] +412.85sERRORodom_qos_relay.py-4process has died [pid 9264, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +413.83sINFOcomponent_container_mt-25process has finished cleanly [pid 9411] +414.17sINFOweb_bridge-28process has finished cleanly [pid 9414] +414.18sINFOlaunchprocess[web_bridge-28] was required: shutting down launched system +414.51sINFOros2_control_node-7process has finished cleanly [pid 9267] +422.15sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-11-19-24-33-616314-015203c380a6-10273 ×2 +432.56sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' +432.56sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'world' +432.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +432.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +432.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +432.63sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +432.67sINFOcontroller_serverCreating controller server +432.67sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +432.68sINFOlocal_costmap.local_costmapCreating Costmap +432.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +432.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +432.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +432.69sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +432.69sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +432.71sINFOsmoother_serverCreating smoother server +432.71sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +432.72sINFOcontroller_managerupdate rate is 600 Hz +432.72sINFOcontroller_managerOverruns handling is : enabled +432.72sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +432.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +432.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +432.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +432.72sWARNcontroller_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. +432.73sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +432.75sINFOplanner_serverCreating +432.76sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +432.77sINFOglobal_costmap.global_costmapCreating Costmap +432.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +432.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +432.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +432.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +432.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +432.86sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +432.86sINFOmap_serverCreating +432.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +432.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +432.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +432.90sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +432.90sINFOros2_control_node-7process started with pid [10328] ×2 +432.90sINFOmove_group-19process started with pid [10417] ×2 +432.90sINFOparameter_manager_node-20process started with pid [10419] ×2 +432.90sINFOwaypoint_manager_node-21process started with pid [10421] ×2 +432.90sINFOmove_joint_resampler_node-22process started with pid [10422] ×2 +432.90sINFOmove_end_effector_resampler_node-23process started with pid [10486] ×2 +432.90sINFOobjective_server_node_main-24process started with pid [10488] ×2 +432.90sINFOcomponent_container_mt-25process started with pid [10504] ×2 +432.90sINFOexecute_objective_bridge-26process started with pid [10505] ×2 +432.90sINFOui_teleop_bridge-27process started with pid [10507] ×2 +432.90sINFOweb_bridge-28process started with pid [10508] ×2 +432.90sINFOtf2_web_republisher_node-29process started with pid [10509] ×2 +432.90sINFOweb_video_server-30process started with pid [10510] ×2 +432.91sINFOcomponent_container_isolated-1process started with pid [10322] ×2 +432.91sINFOstatic_transform_publisher-2process started with pid [10323] ×2 +432.91sINFOstatic_transform_publisher-3process started with pid [10324] ×2 +432.91sINFOodom_qos_relay.py-4process started with pid [10325] ×2 +432.91sINFOscan_to_scan_filter_chain-5process started with pid [10326] ×2 +432.91sINFOscan_to_scan_filter_chain-6process started with pid [10327] ×2 +432.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process started with pid [10329] ×2 +432.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process started with pid [10399] ×2 +432.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process started with pid [10400] ×2 +432.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-11process started with pid [10401] ×2 +432.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process started with pid [10403] ×2 +432.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process started with pid [10405] ×2 +432.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-14process started with pid [10407] ×2 +432.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process started with pid [10408] ×2 +432.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process started with pid [10413] ×2 +432.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-17process started with pid [10414] ×2 +432.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process started with pid [10415] ×2 +432.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.611370 ms (missed cycles : 8). +432.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +432.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +432.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +433.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +433.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.611370 ms (missed cycles : 8).[0m ×2 +433.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +433.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +433.03sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +433.04sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +433.05sINFObt_navigatorCreating +433.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +433.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +433.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +433.07sINFOlifecycle_manager_localizationCreating +433.08sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +433.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +433.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +433.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +433.09sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +433.09sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +433.09sINFOmap_serverConfiguring +433.11sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +433.11sINFOwaypoint_followerCreating +433.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +433.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +433.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +433.15sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +433.15sINFOamclConfiguring +433.16sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +433.16sINFOmap_serverActivating +433.16sINFOmap_serverCreating bond (map_server) to lifecycle manager. +433.16sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +433.18sINFOlifecycle_manager_navigationCreating +433.19sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +433.21sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +433.21sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +433.21sINFOcontroller_serverConfiguring controller interface +433.21sINFOcontroller_servergetting progress checker plugins.. +433.21sINFOcontroller_servergetting goal checker plugins.. +433.21sINFOcontroller_serverController frequency set to 20.0000Hz +433.21sINFOlocal_costmap.local_costmapConfiguring +433.23sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +433.24sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +433.26sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +433.27sINFOlifecycle_manager_localizationServer map_server connected with bond. +433.27sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +433.27sINFOamclActivating +433.27sINFOamclSubscribed to initial_pose_topic: /initialpose +433.27sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +433.27sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +433.27sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +433.28sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +433.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +433.29sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +433.30sINFOamclSubscribed to map_topic: /map +433.30sINFOamclSubscribed to scan_topic: /scan_front_filtered +433.30sINFOamclCreated reinitialize_global_localization service +433.30sINFOamclCreated request_nomotion_update service +433.31sINFOamclA new map was received +433.31sINFOamclInitializing particle filter instance +433.32sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +433.32sINFOcontroller_serverController Server has progress_checker progress checkers available. +433.33sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +433.33sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +433.33sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +433.35sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +433.37sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +433.37sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +433.38sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +433.38sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +433.39sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +433.39sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +433.39sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +433.39sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +433.40sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +433.40sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +433.41sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +433.42sINFOrobot_state_publisherRobot initialized +433.42sINFOcontroller_managerReceived robot description from topic. +433.42sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +433.42sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +433.42sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +433.42sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +433.42sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +433.43sINFOcontroller_serverOptimizer reset +433.44sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +433.44sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +433.44sINFOcontroller_serverController Server has FollowPath controllers available. +433.44sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +433.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +433.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +433.45sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +433.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +433.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +433.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +433.45sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +433.46sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +433.46sINFOsmoother_serverConfiguring smoother server +433.47sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +433.50sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +433.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +433.51sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +433.51sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +433.54sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +433.54sINFOplanner_serverConfiguring +433.54sINFOglobal_costmap.global_costmapConfiguring +433.56sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +433.57sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +433.57sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +433.57sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +433.57sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +433.57sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +433.58sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +433.60sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +433.61sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +433.61sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +433.62sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +433.65sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner +433.65sINFOplanner_serverCleaning up +433.65sINFOglobal_costmap.global_costmapCleaning up +433.66sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +433.77sINFOamclParticle filter initialization completed +433.77sINFOamclInitializing particles from map +433.77sINFOamclParticle filter initialized with 2000 particles distributed across the map +433.87sINFOlifecycle_manager_localizationServer amcl connected with bond. +433.87sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +433.87sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +433.88sINFOamclThe bond connection to the lifecycle manager is now fully formed +433.92sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.531485 seconds +433.92sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +433.92sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +433.96sINFOmove_groupLoaded robot model in 0.531485 seconds[0m ×2 +434.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833752 ms (missed cycles : 2). +434.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833752 ms (missed cycles : 2).[0m ×2 +434.25sINFOwaypoint_manager_nodeLoaded robot model in 0.461414 seconds[0m ×2 +434.66sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +434.90sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +434.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 +435.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.568034 ms (missed cycles : 6). +435.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.568034 ms (missed cycles : 6).[0m ×2 +435.17sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +435.17sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +435.23sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +435.23sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +435.23sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +435.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +435.23sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +435.23sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +435.23sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +435.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +435.23sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +435.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +435.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +435.52sINFOros2-31process started with pid [10991] ×2 +435.79sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +435.79sINFOcontroller_managerActivating component 'ur_mujoco_control'. +435.79sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +435.79sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +435.82sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +435.82sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +435.91sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +435.91sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +435.92sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.142ms +436.04sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli +436.04sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 +436.07sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller +436.07sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +436.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321671 ms (missed cycles : 2). +436.15sINFOobjective_server_node[2026-06-11 19:24:50.752] [moveit_pro_license] [info] ×2 +436.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321671 ms (missed cycles : 2).[0m ×2 +436.18sWARNcontroller_managerOverrun might occur, Total time : 6348.112 us (Expected < 1666.667 us) --> Read time : 5997.357 us, Update time : 19.790 us, Write time : 330.965 us +436.18sWARNros2_control_nodeOverrun might occur, Total time : 6348.112 us (Expected < 1666.667 us) --> Read time : 5997.357 us, Update time : 19.790 us, Write time : 330.965 us[0m ×2 +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +436.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +436.48sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +436.50sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +436.53sINFOros2_control_node[2026-06-11 19:24:51.180] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +436.54sINFOros2_control_node[2026-06-11 19:24:51.184] [info] Controller state will be published at 10 Hz. ×2 +436.54sINFOros2_control_node[2026-06-11 19:24:51.186] [info] VelocityForceController 'on_configure' succeeded. ×2 +436.64sINFOobjective_server_nodeLoaded robot model in 0.390127 seconds[0m ×2 +436.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +436.70sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +436.95sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +436.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 +436.96sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +436.96sINFOcontroller_managerLoading controller 'joint_velocity_controller' +436.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 10413] ×2 +437.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli +437.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 +437.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller +437.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +437.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176366 ms (missed cycles : 3). +437.14sINFOcomponent_container_mtLoaded robot model in 0.414113 seconds[0m ×2 +437.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176366 ms (missed cycles : 3).[0m ×2 +437.17sINFOamclInitializing particles from estimated pose and covariance +437.17sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 +437.22sINFOamclParticle filter update iteration stats: 1914 particles 91 points - 3.028ms +437.22sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1781205890.863 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +437.26sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +437.39sWARNcontroller_managerOverrun might occur, Total time : 2548.816 us (Expected < 1666.667 us) --> Read time : 307.216 us, Update time : 24.670 us, Write time : 2216.930 us +437.40sWARNros2_control_nodeOverrun might occur, Total time : 2548.816 us (Expected < 1666.667 us) --> Read time : 307.216 us, Update time : 24.670 us, Write time : 2216.930 us[0m ×2 +437.60sINFOros2-31process has finished cleanly [pid 10991] ×2 +437.74sINFOros2_control_node[2026-06-11 19:24:52.386] [info] Controller state will be published at 20 Hz. ×2 +437.74sINFOros2_control_node[2026-06-11 19:24:52.387] [info] JointVelocityController 'on_configure' succeeded. ×2 +438.05sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds +438.09sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +438.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +438.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli +438.10sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 +438.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-17process has finished cleanly [pid 10414] ×2 +438.11sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +438.11sINFOmove_groupMoveGroup debug mode is ON +438.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695462 ms (missed cycles : 5). +438.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695462 ms (missed cycles : 5).[0m ×2 +438.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller +438.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +438.22sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +438.22sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +438.22sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +438.22sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +438.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +438.43sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+438.47sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +438.48sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +438.48sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 10.0 Hz) +438.58sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +438.58sINFOcontroller_managerLoading controller 'platform_velocity_controller' +438.58sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli +438.59sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 +438.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-14process has finished cleanly [pid 10407] ×2 +438.67sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller +438.68sWARNcontroller_managerOverrun might occur, Total time : 1718.721 us (Expected < 1666.667 us) --> Read time : 216.864 us, Update time : 17.810 us, Write time : 1484.047 us +438.68sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +438.68sWARNros2_control_nodeOverrun might occur, Total time : 1718.721 us (Expected < 1666.667 us) --> Read time : 216.864 us, Update time : 17.810 us, Write time : 1484.047 us[0m ×2 +438.69sINFOplatform_velocity_controllerconfigure successful +438.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +438.69sINFOcontroller_managerSuccessfully switched controllers! ×8 +438.70sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller +439.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +439.02sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +439.02sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli +439.02sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 +439.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-11process has finished cleanly [pid 10401] ×2 +439.08sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 +439.10sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +439.10sINFOplatform_velocity_controller_nav2configure successful +439.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963648 ms (missed cycles : 2). +439.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963648 ms (missed cycles : 2).[0m ×2 +439.48sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +439.48sINFOcontroller_managerLoading controller 'velocity_force_controller' +439.48sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli +439.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 +439.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process has finished cleanly [pid 10405] ×2 +439.54sINFOspawner_velocity_force_controllerLoaded velocity_force_controller +439.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +439.91sINFOros2_control_node[2026-06-11 19:24:54.559] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +439.92sINFOros2_control_node[2026-06-11 19:24:54.562] [info] Controller state will be published at 10 Hz. ×2 +439.92sINFOros2_control_node[2026-06-11 19:24:54.564] [info] VelocityForceController 'on_configure' succeeded. ×2 +440.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128914 ms (missed cycles : 2). +440.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128914 ms (missed cycles : 2).[0m ×2 +440.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 10408] ×2 +440.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +440.47sWARNcontroller_managerOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us +440.47sWARNros2_control_nodeOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us[0m ×2 +440.54sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +440.54sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +440.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli +440.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 +440.57sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster +440.57sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +440.57sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +440.57sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +440.57sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +440.58sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +440.59sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster +440.90sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +440.90sINFOcontroller_managerLoading controller 'vacuum_gripper' +440.91sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli +440.91sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 +440.93sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +440.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process has finished cleanly [pid 10400] ×2 +440.98sINFOspawner_vacuum_gripperLoaded vacuum_gripper +440.99sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +440.99sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +440.99sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +441.00sWARNcontroller_managerOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us +441.00sWARNros2_control_nodeOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us[0m ×2 +441.00sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper +441.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3). +441.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3).[0m ×2 +441.34sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +441.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 +441.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process has finished cleanly [pid 10403] ×2 +441.61sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +441.61sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +441.61sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli +441.61sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 +441.64sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller +441.64sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +441.75sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us +441.76sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 +442.00sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 +442.00sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 +442.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). +442.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 +442.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 +442.42sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +442.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 +442.70sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +442.70sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +442.70sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli +442.70sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 +442.73sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster +442.73sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +442.73sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +442.75sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster +443.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 +443.14sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +443.14sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +443.14sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli +443.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 +443.17sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us +443.17sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 +443.22sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster +443.22sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +443.22sINFOforce_torque_sensor_broadcasterconfigure successful +443.23sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +443.24sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster +443.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). +443.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 +443.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 +444.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 +444.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +444.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +444.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 +444.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). +444.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 +444.44sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us +444.45sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 +444.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 +444.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 +445.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 +445.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 +445.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). +445.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 +445.83sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +445.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 +445.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +445.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +445.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +445.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +445.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +445.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +445.94sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us +445.94sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 +445.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 +446.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). +446.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 +446.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 +446.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +446.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +446.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +446.55sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us +446.56sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 45 warnings · 689 info |
+ 0.00sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.00sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.00sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process has finished cleanly [pid 10400] ×2 + 0.08sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.08sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us[0m ×2 + 0.09sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3).[0m ×2 + 0.44sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process has finished cleanly [pid 10403] ×2 + 0.70sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.70sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.70sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.70sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.70sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.70sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.73sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.74sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.75sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.75sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.75sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.78sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.78sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.85sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.85sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 1.10sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 1.10sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 1.52sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.79sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.79sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.79sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.79sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.80sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.80sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.82sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.82sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.82sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.83sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.83sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.84sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 2.24sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.24sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.24sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.24sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.24sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 2.26sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 2.31sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.32sINFOforce_torque_sensor_broadcasterconfigure successful + 2.32sINFOros2_control_nodeconfigure successful[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.34sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.13sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 3.54sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 5.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.65sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 5.65sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 7.03sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 7.03sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 7.12sINFOjoint_trajectory_controllerReceived new action goal + 7.12sINFOjoint_trajectory_controllerAccepted new action goal + 7.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 51 warnings · 710 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.08sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.10sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.12sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.44sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.44sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.44sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.44sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.44sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.47sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process has finished cleanly [pid 10400] ×2 + 0.52sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.52sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.52sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.53sWARNcontroller_managerOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us + 0.53sWARNros2_control_nodeOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us[0m ×2 + 0.53sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3).[0m ×2 + 0.87sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process has finished cleanly [pid 10403] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.14sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.14sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.18sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 1.19sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 1.19sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 1.21sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 1.53sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 1.96sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.23sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.23sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.23sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.23sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.23sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.26sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 2.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.27sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.28sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 2.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.68sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.68sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 2.75sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.76sINFOforce_torque_sensor_broadcasterconfigure successful + 2.76sINFOros2_control_nodeconfigure successful[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.78sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 3.98sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 3.98sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 5.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 7.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-11-19-24-33-616314-015203c380a6-10273 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 48 warnings · 707 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.08sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.10sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.12sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.44sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.44sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.44sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.44sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.44sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.47sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process has finished cleanly [pid 10400] ×2 + 0.52sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.52sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.52sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.53sWARNcontroller_managerOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us + 0.53sWARNros2_control_nodeOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us[0m ×2 + 0.53sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3).[0m ×2 + 0.87sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process has finished cleanly [pid 10403] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.14sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.14sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.18sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 1.19sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 1.19sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 1.21sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 1.53sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 1.96sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.23sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.23sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.23sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.23sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.23sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.26sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 2.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.27sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.28sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 2.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.68sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.68sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 2.75sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.76sINFOforce_torque_sensor_broadcasterconfigure successful + 2.76sINFOros2_control_nodeconfigure successful[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.78sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 3.98sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 3.98sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 5.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 48 warnings · 707 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.08sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.10sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.12sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.44sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.44sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.44sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.44sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.44sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.47sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process has finished cleanly [pid 10400] ×2 + 0.52sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.52sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.52sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.53sWARNcontroller_managerOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us + 0.53sWARNros2_control_nodeOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us[0m ×2 + 0.53sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3).[0m ×2 + 0.87sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process has finished cleanly [pid 10403] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.14sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.14sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.18sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 1.19sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 1.19sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 1.21sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 1.53sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 1.96sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.23sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.23sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.23sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.23sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.23sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.26sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 2.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.27sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.28sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 2.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.68sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.68sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 2.75sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.76sINFOforce_torque_sensor_broadcasterconfigure successful + 2.76sINFOros2_control_nodeconfigure successful[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.78sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 3.98sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 3.98sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 5.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 48 warnings · 707 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5648.061 us (Expected < 1666.667 us) --> Read time : 230.064 us, Update time : 4937.978 us, Write time : 480.019 us[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.08sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.10sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.12sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.44sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.44sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.44sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.44sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.44sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.47sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process has finished cleanly [pid 10400] ×2 + 0.52sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.52sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.52sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.53sWARNcontroller_managerOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us + 0.53sWARNros2_control_nodeOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us[0m ×2 + 0.53sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3).[0m ×2 + 0.87sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process has finished cleanly [pid 10403] ×2 + 1.14sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.14sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.14sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.14sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.14sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.14sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.18sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 1.19sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 1.19sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 1.21sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 1.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 1.53sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 1.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 1.96sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.23sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 2.23sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 2.23sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 2.23sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.23sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.26sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 2.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 2.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 2.27sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 2.28sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 2.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.68sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.68sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 2.75sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.76sINFOforce_torque_sensor_broadcasterconfigure successful + 2.76sINFOros2_control_nodeconfigure successful[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.78sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 3.98sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 3.98sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 5.45sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 5.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 42 warnings · 683 info |
+ 0.00sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.00sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.00sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process has finished cleanly [pid 10400] ×2 + 0.08sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.08sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 4331.958 us (Expected < 1666.667 us) --> Read time : 160.593 us, Update time : 3814.898 us (Switch time : 3732.587 us (Switch chained mode time : 0.510 us, perform mode change time : 1.760 us, Activation time : 3716.187 us, Deactivation time : 0.320 us)), Write time : 356.467 us[0m ×2 + 0.09sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782012 ms (missed cycles : 3).[0m ×2 + 0.44sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process has finished cleanly [pid 10403] ×2 + 0.70sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.70sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.70sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.70sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.70sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.70sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.73sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.74sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.75sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.75sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.75sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.78sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.78sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.85sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.85sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 1.10sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 1.10sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 1.52sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.79sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.79sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.79sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.79sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.80sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.80sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.82sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.82sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.82sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.83sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.83sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.84sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 2.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 2.24sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.24sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.24sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.24sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 2.24sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 2.26sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 2.31sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.32sINFOforce_torque_sensor_broadcasterconfigure successful + 2.32sINFOros2_control_nodeconfigure successful[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.34sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.13sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 3.54sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 5.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 5.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.65sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 5.65sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 39 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199913 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199913 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 | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 36 warnings · 655 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.05sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.05sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 2780.139 us (Expected < 1666.667 us) --> Read time : 138.262 us, Update time : 114.652 us, Write time : 2527.225 us[0m ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.648] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-11 19:24:56.649] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132108 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 10415] ×2 + 0.82sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.12sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 1.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.12sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 10399] ×2 + 1.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli + 1.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogtzk067 --params-file /tmp/launch_params_vb3mdm2i --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_08r6tkip --params-file /tmp/launch_params_s3gywmli [0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1819.213 us (Expected < 1666.667 us) --> Read time : 1429.586 us, Update time : 82.061 us, Write time : 307.566 us[0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOforce_torque_sensor_broadcasterconfigure successful + 1.62sINFOros2_control_nodeconfigure successful[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.64sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616511 ms (missed cycles : 4).[0m ×2 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 10329] ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205898.67601514 seconds. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205898.68625379 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918942 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us + 2.84sWARNros2_control_nodeOverrun might occur, Total time : 2035.606 us (Expected < 1666.667 us) --> Read time : 267.955 us, Update time : 1318.073 us, Write time : 449.578 us[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205899.23092246 seconds. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205899.25107241 seconds ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205899.80083060 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205899.95144868 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640089 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205900.53018761 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.34sWARNcontroller_managerOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us + 4.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 3821.819 us (Expected < 1666.667 us) --> Read time : 150.573 us, Update time : 3324.790 us (Switch time : 3257.938 us (Switch chained mode time : 0.380 us, perform mode change time : 3.360 us, Activation time : 3244.418 us, Deactivation time : 0.220 us)), Write time : 346.456 us[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205900.59226584 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2). + 4.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781205901.13621473 seconds. ×3 + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678248 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us + 4.95sWARNros2_control_nodeOverrun might occur, Total time : 5949.247 us (Expected < 1666.667 us) --> Read time : 146.263 us, Update time : 95.812 us, Write time : 5707.172 us[0m ×2 + 5.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673584 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 3162.037 us (Expected < 1666.667 us) --> Read time : 116.642 us, Update time : 104.602 us, Write time : 2940.793 us[0m ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal + 6.42sINFOjoint_trajectory_controllerAccepted new action goal + 6.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||